jp.digitalmuseum.mr.entity
クラス MindstormsNXT

java.lang.Object
  jp.digitalmuseum.mr.entity.EntityImpl
      jp.digitalmuseum.mr.entity.RobotAbstractImpl
          jp.digitalmuseum.mr.entity.PhysicalRobotAbstractImpl
              jp.digitalmuseum.mr.entity.MindstormsNXT

すべての実装されたインタフェース:

java.io.Serializable, Entity, PhysicalEntity, PhysicalRobot, Robot, EventProvider

直系の既知のサブクラス:

MindstormsNXTWithPen

public class MindstormsNXT

extends PhysicalRobotAbstractImpl

LEGO Mindstorms NXT

作成者:

Jun KATO

関連項目:

MindstormsNXT.MindstormsNXTDifferentialWheels, 直列化された形式

入れ子のクラスの概要

static class	MindstormsNXT.MindstormsNXTDifferentialWheels Differential wheels of LEGO Mindstorms NXT.
static class	MindstormsNXT.OutputState Container for holding the output state values.

フィールドの概要

static int	A
static int	ALL
static byte	ANGLE
static byte	ANGLESTEPSMODE
static int	B
static byte	BOOLEANMODE
static byte	BOOT
static byte	BRAKE Use run/brake instead of run/float in PWM
static int	C
static byte	CELSIUSMODE
static byte	CLOSE
static byte	CUSTOM
static byte	DELETE
static byte	DELETE_USER_FLASH
static byte	DIRECT_COMMAND_NOREPLY
static byte	DIRECT_COMMAND_REPLY
static byte	FAHRENHEITMODE
static byte	FIND_FIRST
static byte	FIND_NEXT
static byte	GET_BATTERY_LEVEL
static byte	GET_CURRENT_PROGRAM_NAME
static byte	GET_DEVICE_INFO
static byte	GET_FIRMWARE_VERSION
static byte	GET_INPUT_VALUES
static byte	GET_OUTPUT_STATE
static byte	HIGH_SPEED_BUFFER
static byte	KEEP_ALIVE
static byte	LIGHT_ACTIVE
static byte	LIGHT_INACTIVE
static byte	LOWSPEED
static byte	LOWSPEED_9V
static byte	LS_GET_STATUS
static byte	LS_READ
static byte	LS_WRITE
static byte	MESSAGE_READ
static byte	MESSAGE_WRITE
static byte	MODEMASK
static byte	MOTOR_RUN_STATE_ERROR Error
static byte	MOTOR_RUN_STATE_IDLE Output will be idle
static byte	MOTOR_RUN_STATE_RAMPDOWN Output will ramp-down
static byte	MOTOR_RUN_STATE_RAMPUP Output will ramp-up
static byte	MOTOR_RUN_STATE_RUNNING Output will be running
static byte	MOTORON Turn on the specified motor
static byte	NO_OF_SENSOR_TYPES
static byte	NO_SENSOR
static byte	OPEN_APPEND_DATA
static byte	OPEN_READ
static byte	OPEN_READ_LINEAR
static byte	OPEN_WRITE
static byte	OPEN_WRITE_DATA
static byte	OPEN_WRITE_LINEAR
static byte	PCTFULLSCALEMODE
static byte	PERIODCOUNTERMODE
static byte	PLAY_SOUND_FILE
static byte	PLAY_TONE
static byte	POLL
static byte	POLL_BUFFER
static byte	POLL_LENGTH
static byte	RAWMODE
static byte	READ
static byte	REFLECTION
static byte	REGULATED Turns on the regulation
static byte	REGULATION_MODE_IDLE No regulation will be enabled
static byte	REGULATION_MODE_MOTOR_SPEED Power control will be enabled on specified output
static byte	REGULATION_MODE_MOTOR_SYNC Synchronization will be enabled (Needs enabled on two output)
static byte	REPLY_COMMAND
static byte	RESET_MOTOR_POSITION
static byte	RESET_SCALED_INPUT_VALUE
static byte	SET_BRICK_NAME
static byte	SET_INPUT_MODE
static byte	SET_OUTPUT_STATE
static byte	SLOPEMASK
static byte	SOUND_DB
static byte	SOUND_DBA
static byte	START_PROGRAM
static byte	STOP_PROGRAM
static byte	STOP_SOUND_PLAYBACK
static byte	SWITCH
static byte	SYSTEM_COMMAND_NOREPLY
static byte	SYSTEM_COMMAND_REPLY
static byte	TACHO_FOREVER
static byte	TEMPERATURE
static byte	TRANSITIONCNTMODE
static byte	WRITE

コンストラクタの概要

MindstormsNXT()

MindstormsNXT(Connector connector)

MindstormsNXT(Connector connector, java.lang.String name)

MindstormsNXT(java.lang.String connectionString)

MindstormsNXT(java.lang.String connectionString, java.lang.String name)

メソッドの概要

void	dispose() Called when disposing this Entity.
protected boolean	drive(int port, byte power, int mode)
protected static boolean	drive(int port, byte power, int mode, Connector connector)
MindstormsNXT.OutputState	getOutputState(int port)
static MindstormsNXT.OutputState	getOutputState(int port, Connector connector) Retrieves the current output state for a port.
static void	getOutputState(int port, Connector connector, MindstormsNXT.OutputState outputState) Retrieves the current output state for a port.
void	getOutputStateOut(int port, MindstormsNXT.OutputState outputState)
protected java.util.List<ResourceAbstractImpl>	getResources() This method must be implemented by child classes. Caution: Do not call this method outside this class.
java.awt.Shape	getShape()
protected void	initialize()
protected static byte[]	read(Connector connector)
boolean	sendAck()
static boolean	sendAck(Connector connector)
protected boolean	setOutputState(int port, byte power, int mode, int regulationMode, int turnRatio, int runState, int tachoLimit)
protected static boolean	setOutputState(int port, byte power, int mode, int regulationMode, int turnRatio, int runState, int tachoLimit, Connector connector)
protected static boolean	write(byte[] buf, Connector connector)

クラス jp.digitalmuseum.mr.entity.PhysicalRobotAbstractImpl から継承されたメソッド

connect, disconnect, getConfigurationComponent, getConnector, isConnected, setConnector

クラス jp.digitalmuseum.mr.entity.RobotAbstractImpl から継承されたメソッド

freeResource, freeResources, getAssignedTask, getAssignedTasks, getAvailableExclusiveResourceTypes, getResourceComponent, getResourceComponents, getResourceComponents, getResourceTypes, getTypeName, requestResource, requestResources, setTypeName

クラス jp.digitalmuseum.mr.entity.EntityImpl から継承されたメソッド

addEventListener, distributeEvent, getName, isDisposed, removeEventListener, setName, toString

クラス java.lang.Object から継承されたメソッド

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

インタフェース jp.digitalmuseum.mr.entity.Robot から継承されたメソッド

freeResource, freeResources, getAssignedTask, getAssignedTasks, getAvailableExclusiveResourceTypes, getResourceComponent, getResourceComponents, getResourceComponents, getResourceTypes, getTypeName, requestResource, requestResources

インタフェース jp.digitalmuseum.mr.entity.Entity から継承されたメソッド

getName, isDisposed, setName

インタフェース jp.digitalmuseum.mr.message.EventProvider から継承されたメソッド

addEventListener, removeEventListener

フィールドの詳細

A

public static final int A

関連項目:

定数フィールド値

B

public static final int B

関連項目:

定数フィールド値

C

public static final int C

関連項目:

定数フィールド値

ALL

public static final int ALL

関連項目:

定数フィールド値

TACHO_FOREVER

public static final byte TACHO_FOREVER

関連項目:

定数フィールド値

DIRECT_COMMAND_REPLY

public static byte DIRECT_COMMAND_REPLY

SYSTEM_COMMAND_REPLY

public static byte SYSTEM_COMMAND_REPLY

REPLY_COMMAND

public static byte REPLY_COMMAND

DIRECT_COMMAND_NOREPLY

public static byte DIRECT_COMMAND_NOREPLY

SYSTEM_COMMAND_NOREPLY

public static byte SYSTEM_COMMAND_NOREPLY

OPEN_READ

public static byte OPEN_READ

OPEN_WRITE

public static byte OPEN_WRITE

READ

public static byte READ

WRITE

public static byte WRITE

CLOSE

public static byte CLOSE

DELETE

public static byte DELETE

FIND_FIRST

public static byte FIND_FIRST

FIND_NEXT

public static byte FIND_NEXT

GET_FIRMWARE_VERSION

public static byte GET_FIRMWARE_VERSION

OPEN_WRITE_LINEAR

public static byte OPEN_WRITE_LINEAR

OPEN_READ_LINEAR

public static byte OPEN_READ_LINEAR

OPEN_WRITE_DATA

public static byte OPEN_WRITE_DATA

OPEN_APPEND_DATA

public static byte OPEN_APPEND_DATA

BOOT

public static byte BOOT

SET_BRICK_NAME

public static byte SET_BRICK_NAME

GET_DEVICE_INFO

public static byte GET_DEVICE_INFO

DELETE_USER_FLASH

public static byte DELETE_USER_FLASH

POLL_LENGTH

public static byte POLL_LENGTH

POLL

public static byte POLL

POLL_BUFFER

public static byte POLL_BUFFER

HIGH_SPEED_BUFFER

public static byte HIGH_SPEED_BUFFER

START_PROGRAM

public static byte START_PROGRAM

STOP_PROGRAM

public static byte STOP_PROGRAM

PLAY_SOUND_FILE

public static byte PLAY_SOUND_FILE

PLAY_TONE

public static byte PLAY_TONE

SET_OUTPUT_STATE

public static byte SET_OUTPUT_STATE

SET_INPUT_MODE

public static byte SET_INPUT_MODE

GET_OUTPUT_STATE

public static byte GET_OUTPUT_STATE

GET_INPUT_VALUES

public static byte GET_INPUT_VALUES

RESET_SCALED_INPUT_VALUE

public static byte RESET_SCALED_INPUT_VALUE

MESSAGE_WRITE

public static byte MESSAGE_WRITE

RESET_MOTOR_POSITION

public static byte RESET_MOTOR_POSITION

GET_BATTERY_LEVEL

public static byte GET_BATTERY_LEVEL

STOP_SOUND_PLAYBACK

public static byte STOP_SOUND_PLAYBACK

KEEP_ALIVE

public static byte KEEP_ALIVE

LS_GET_STATUS

public static byte LS_GET_STATUS

LS_WRITE

public static byte LS_WRITE

LS_READ

public static byte LS_READ

GET_CURRENT_PROGRAM_NAME

public static byte GET_CURRENT_PROGRAM_NAME

MESSAGE_READ

public static byte MESSAGE_READ

MOTORON

public static byte MOTORON

Turn on the specified motor

BRAKE

public static byte BRAKE

Use run/brake instead of run/float in PWM

REGULATED

public static byte REGULATED

Turns on the regulation

REGULATION_MODE_IDLE

public static byte REGULATION_MODE_IDLE

No regulation will be enabled

REGULATION_MODE_MOTOR_SPEED

public static byte REGULATION_MODE_MOTOR_SPEED

Power control will be enabled on specified output

REGULATION_MODE_MOTOR_SYNC

public static byte REGULATION_MODE_MOTOR_SYNC

Synchronization will be enabled (Needs enabled on two output)

MOTOR_RUN_STATE_ERROR

public static byte MOTOR_RUN_STATE_ERROR

Error

MOTOR_RUN_STATE_IDLE

public static byte MOTOR_RUN_STATE_IDLE

Output will be idle

MOTOR_RUN_STATE_RAMPUP

public static byte MOTOR_RUN_STATE_RAMPUP

Output will ramp-up

MOTOR_RUN_STATE_RUNNING

public static byte MOTOR_RUN_STATE_RUNNING

Output will be running

MOTOR_RUN_STATE_RAMPDOWN

public static byte MOTOR_RUN_STATE_RAMPDOWN

Output will ramp-down

NO_SENSOR

public static byte NO_SENSOR

SWITCH

public static byte SWITCH

TEMPERATURE

public static byte TEMPERATURE

REFLECTION

public static byte REFLECTION

ANGLE

public static byte ANGLE

LIGHT_ACTIVE

public static byte LIGHT_ACTIVE

LIGHT_INACTIVE

public static byte LIGHT_INACTIVE

SOUND_DB

public static byte SOUND_DB

SOUND_DBA

public static byte SOUND_DBA

CUSTOM

public static byte CUSTOM

LOWSPEED

public static byte LOWSPEED

LOWSPEED_9V

public static byte LOWSPEED_9V

NO_OF_SENSOR_TYPES

public static byte NO_OF_SENSOR_TYPES

RAWMODE

public static byte RAWMODE

BOOLEANMODE

public static byte BOOLEANMODE

TRANSITIONCNTMODE

public static byte TRANSITIONCNTMODE

PERIODCOUNTERMODE

public static byte PERIODCOUNTERMODE

PCTFULLSCALEMODE

public static byte PCTFULLSCALEMODE

CELSIUSMODE

public static byte CELSIUSMODE

FAHRENHEITMODE

public static byte FAHRENHEITMODE

ANGLESTEPSMODE

public static byte ANGLESTEPSMODE

SLOPEMASK

public static byte SLOPEMASK

MODEMASK

public static byte MODEMASK

コンストラクタの詳細

MindstormsNXT

public MindstormsNXT()

MindstormsNXT

public MindstormsNXT(java.lang.String connectionString)

MindstormsNXT

public MindstormsNXT(java.lang.String connectionString,
                     java.lang.String name)

MindstormsNXT

public MindstormsNXT(Connector connector)

MindstormsNXT

public MindstormsNXT(Connector connector,
                     java.lang.String name)

メソッドの詳細

initialize

protected void initialize()

オーバーライド:

クラス RobotAbstractImpl 内の initialize

dispose

public void dispose()

インタフェース Entity の記述:

Called when disposing this Entity.

定義:

インタフェース Entity 内の dispose

オーバーライド:

クラス PhysicalRobotAbstractImpl 内の dispose

関連項目:

Entity.dispose()

getResources

protected java.util.List<ResourceAbstractImpl> getResources()

クラス RobotAbstractImpl の記述:

This method must be implemented by child classes.
Caution: Do not call this method outside this class.

オーバーライド:

クラス RobotAbstractImpl 内の getResources

戻り値:

Returns a set of all resources.

getShape

public java.awt.Shape getShape()

定義:

インタフェース Entity 内の getShape

定義:

インタフェース PhysicalEntity 内の getShape

オーバーライド:

クラス EntityImpl 内の getShape

戻り値:

Returns shape of this entity.

関連項目:

Entity.getShape()

drive

protected boolean drive(int port,
                        byte power,
                        int mode)

drive

protected static boolean drive(int port,
                               byte power,
                               int mode,
                               Connector connector)

setOutputState

protected boolean setOutputState(int port,
                                 byte power,
                                 int mode,
                                 int regulationMode,
                                 int turnRatio,
                                 int runState,
                                 int tachoLimit)

関連項目:

setOutputState(int, byte, int, int, int, int, int, Connector)

setOutputState

protected static boolean setOutputState(int port,
                                        byte power,
                                        int mode,
                                        int regulationMode,
                                        int turnRatio,
                                        int runState,
                                        int tachoLimit,
                                        Connector connector)

パラメータ:

port - - Output port (0 - 2 or 0xFF for all three)

power - - Set point for power. (-100 to 100)

mode - - Setting the modes MOTORON, BRAKE, and/or REGULATED. This parameter is a bitfield, so to put it in brake mode and regulated, use BRAKEMODE + REGULATED

regulationMode - - see NXTProtocol for enumerations

turnRatio - - Need two motors? (-100 to 100)

runState - - see NXTProtocol for enumerations

tachoLimit - - Number of degrees(?) to rotate before stopping.

getOutputState

public MindstormsNXT.OutputState getOutputState(int port)

関連項目:

getOutputState(int, Connector)

getOutputStateOut

public void getOutputStateOut(int port,
                              MindstormsNXT.OutputState outputState)

関連項目:

getOutputState(int, Connector, OutputState)

getOutputState

public static MindstormsNXT.OutputState getOutputState(int port,
                                                       Connector connector)

Retrieves the current output state for a port.

パラメータ:

port - - 0 to 3

戻り値:

OutputState - returns a container object for output state variables.

getOutputState

public static void getOutputState(int port,
                                  Connector connector,
                                  MindstormsNXT.OutputState outputState)

Retrieves the current output state for a port.

パラメータ:

port - 0 to 3

outputState - a container object for output state variables.

sendAck

public boolean sendAck()

sendAck

public static boolean sendAck(Connector connector)

write

protected static boolean write(byte[] buf,
                               Connector connector)

read

protected static byte[] read(Connector connector)