Hitechnic IR Seeker V2

[vegavov]

I just received a IR Seeker V2 and an Infrared Ball from Hitechnic and having some problems getting this to work with lejos.

Im using the IR Seeker from the API but everything i try returns -1.

This is the program im trying:

Code: Select all

      IRSeekerSensor seeker = new IRSeekerSensor(SensorPort.S3);
      
      seeker.setAddress(0x10);
      
      while (!Button.ESCAPE.isPressed())
      {
         int direction = seeker.getDirection();
         LCD.clear();
         LCD.drawInt(direction, 2,2);
         LCD.refresh();
      }



And the output is -1.

Is this because the V2 version is not supported by lejos yet?
Or is there something about the V2 using I2C address is 0x10 instead of the standard address?

[gloomyandy]

Hi,
You might want to try setting the address to 0x8 instead of 0x10. There are two ways of referring to i2c addresses. leJOS uses the 7bit way which means addresses go from 0 to 7f many others use the eight bit address in which addresses go from 2 to 0xfe (and can not be odd). So you may need to divide the address by 2 for leJOS...

Andy

[vegavov]

Thanks for the help! It worked.

This did the trick:

Code: Select all

seeker.setAddress(0x8);

[Eric]

I had the same problem. I built a new class since the sensor behaves fundametally differently (ie has a mode).

Code: Select all

package lejos.nxt.addon;

import lejos.nxt.I2CPort;
import lejos.nxt.I2CSensor;

public class IRSeekerV2
{
   public static enum Mode {
      AC, DC
   };

   public static final byte   address   = 0x08;
   byte[]                  buf      = new byte[1];
   public static final   float   noAngle = Float.NaN;

   private Mode            mode;

   /**
    * Set the mode of the sensor
    */
   public void setMode(Mode mode)
   {
      this.mode = mode;
   }

   public IRSeekerV2(I2CPort port, Mode mode)
   {
      super(port, I2CPort.STANDARD_MODE);
      setMode(mode);
      setAddress(address);
   }

   /**
    * Returns the direction of the target (1 to 9) or 0 if no target.
    *
    * @return direction
    */
   public int getDirection()
   {
      int register = 0;
      if(mode == Mode.AC)
      {
         register = 0x49;
      }
      else if(mode == Mode.DC)
      {
         register = 0x42;
      }
      int ret = getData(register, buf, 1);
      if(ret != 0)
         return -1;
      return (0xFF & buf[0]);
   }

   /**
    * Returns the angle of the target (-180 to 180) or NaN.
    *
    * @return direction
    */
   public float getAngle(boolean blocking)
   {
      while(true)
      {
         int dir = getDirection();
         if(dir != 0)
            return (dir - 5) * 30;
         else if(dir == 0 && !blocking)
            return Float.NaN;
      }
   }
   public float getAngle()
   {
      return getAngle(false);
   }

   public boolean hasDirection()
   {
      return getDirection() != 0;
   }

   /**
    * Returns value of sensor 1 - 5.
    *
    * @param id
    *            The id of the sensor to read
    * @return sensor value (0 to 255).
    */
   public int getSensorValue(int id)
   {
      int register = 0;
      if(mode == Mode.AC)
      {
         register = 0x4A;
      }
      else if(mode == Mode.DC)
      {
         register = 0x43;
      }
      if(id < 1 || id > 5)
         throw new IllegalArgumentException(
               "The argument 'id' must be between 1 and 5");
      int ret = getData(register + (id - 1), buf, 1);
      if(ret != 0)
         return -1;
      return (0xFF & buf[0]);
   }

   /**
    * Gets the values of each sensor, returning them in an array.
    *
    * @return Array of sensor values (0 to 255).
    */
   public int[] getSensorValues()
   {
      int[] values = new int[5];
      for(int i = 0; i < 5; i++)
      {
         values[i] = getSensorValue(i + 1);
      }
      return values;
   }

   /**
    * Returns the average sensor reading (DC Only)
    *
    * @return sensor value (0 to 255).
    */
   public int getAverage(int id)
   {
      if(mode == Mode.DC)
      {
         if(id <= 0 || id > 5)
            return -1;
         int ret = getData(0x48, buf, 1);
         if(ret != 0)
            return -1;
         return (0xFF & buf[0]);
      }
      else
      {
         return -1;
      }
   }

   /**
    * Returns a string representation of the strengths
    */
   public String toString()
   {
      return "(" + getSensorValue(1) + "," + getSensorValue(2) + ","
            + getSensorValue(3) + "," + getSensorValue(4) + ","
            + getSensorValue(5) + ")";
   }
}


[lawrie]

Hi Eric,

I will add your class to leJOS for the next release. It seemed to need "extends I2CSensor" adding to the public class statement.

[Sebmaster]

I've been trying to get this up and running the whole day now, but something goes wrong everytime.

I have this sample code:

Code: Select all

IRSeeker ir = new IRSeeker(SensorPort.S1);
ir.setAddress(0x8);
      
while (true) {
   System.out.println(ir.getDirection());
}

If I do it this way, I always get -1 on my screen.
With the class of Eric, I found out, that the getData-call fails with -1 as return code.

I'm using a NXT 2.0 and the IRSeeker V2 by HiTechnic with LeJOS 0.85.

Can someone give me an advice?

[fofa]

hi
plz can explain why use 0xff in getDirection