lejos.nxt.addon
Class NXTMMX

java.lang.Object
  lejos.nxt.I2CSensor
      lejos.nxt.addon.NXTMMX

All Implemented Interfaces:

SensorConstants

public class NXTMMX
extends I2CSensor

Supports the Mindsensors NXTMMX motor multiplexor. This device allows you to connect two additional motors to your robot using a sensor port. Multiple NXTMMXs can be chained together when addressed correctly.

Create an instance of this class to pass to the constructor of a MMXRegulatedMotor or MMXMotorinstance.

Author:

Michael D. Smith mdsmitty@gmail.com, Kirk P Thompsonn

See Also:

MMXRegulatedMotor, MMXMotor

Field Summary

static int	DEFAULT_MMX_ADDRESS
static int	MMX_MOTOR_1 NXTMMX Motor 1.
static int	MMX_MOTOR_2 NXTMMX Motor 2.

Fields inherited from class lejos.nxt.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION

Fields inherited from interface lejos.nxt.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, GREEN, GREEN_INDEX, MAX_AD_RAW, MAX_TYPE, MIN_TYPE, MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

NXTMMX(SensorPort port)
Constructor for the NXTMMX

NXTMMX(SensorPort port, int address)
Constructor for the NXTMMX

Method Summary

void	fltMotors() Floats both motors
float	getVoltage() Returns the voltage supplied to the NXTMMX
boolean	isAutoStart() Determines if motors will automatically start or not.
void	reset() resets mux values to default and stops all tasks.
void	setAutoStart(boolean autoStart) Turns autostart on or off.
void	startMotors() Starts both motors at the same time.
void	stopMotors() Stops both motors

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getVendorID, getVersion, sendData, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Field Detail

DEFAULT_MMX_ADDRESS

public static final int DEFAULT_MMX_ADDRESS

See Also:

Constant Field Values

MMX_MOTOR_1

public static final int MMX_MOTOR_1

NXTMMX Motor 1. This ID is used to bind a MMXRegulatedMotor to M1 of the NXTMMX.

See Also:

MMXRegulatedMotor.MMXRegulatedMotor(lejos.nxt.addon.NXTMMX, int), Constant Field Values

MMX_MOTOR_2

public static final int MMX_MOTOR_2

NXTMMX Motor 2. This ID is used to bind a MMXRegulatedMotor to M2 of the NXTMMX.

See Also:

MMXRegulatedMotor.MMXRegulatedMotor(lejos.nxt.addon.NXTMMX, int), Constant Field Values

Constructor Detail

NXTMMX

public NXTMMX(SensorPort port,
              int address)

Constructor for the NXTMMX

Parameters:

port - - the sensor port its plugged in to

address - The I2C address for the device

See Also:

SensorPort.S1, SensorPort.S2, SensorPort.S3, SensorPort.S4

NXTMMX

public NXTMMX(SensorPort port)

Constructor for the NXTMMX

Parameters:

port - - the port its plugged in to

Method Detail

reset

public void reset()

resets mux values to default and stops all tasks. This includes zeroing the tachos.

isAutoStart

public boolean isAutoStart()

Determines if motors will automatically start or not. By default they are on.

Returns:

true if on

setAutoStart

public void setAutoStart(boolean autoStart)

Turns autostart on or off. if you are going to start the motors at same time, turn autostart off and use the motor methods in this class, not the individual motors.

Default at instantiation is true.

Parameters:

autoStart - true to enable autoStart

startMotors

public void startMotors()

Starts both motors at the same time. Speed has to be set and direction or tacho should be set on the motors.

fltMotors

public void fltMotors()

Floats both motors

stopMotors

public void stopMotors()

Stops both motors

getVoltage

public float getVoltage()

Returns the voltage supplied to the NXTMMX

Returns:

the voltage in volts