nxt

Class NxtApplication

java.lang.Object

nxt.NxtOperation

nxt.NxtApplication

public class NxtApplication
extends NxtOperation

The main application of the NXT project

The application receives commands from the PC application and act upon them

Field Summary

Fields

Modifier and Type	Field and Description
private static ColorSensor	colorSensor
private static char[]	hexArray
private static NXTRegulatedMotor[]	motors
private static UltrasonicSensor	ultrasonicSensor

Fields inherited from class nxt.NxtOperation

OPERATION_ID_FORWARD, OPERATION_ID_GET_DISTANCE, OPERATION_ID_GET_TACHO_COUNT, OPERATION_ID_READ_COLOR, OPERATION_ID_READ_COLOR_ID, OPERATION_ID_RESET_TACHO_COUNT, OPERATION_ID_ROTATE, OPERATION_ID_ROTATE_TO, OPERATION_ID_SET_SPEED, OPERATION_TYPE_CLOSE_CONNECTION, OPERATION_TYPE_COLOR_SENSOR, OPERATION_TYPE_MOTOR, OPERATION_TYPE_ULTRASONIC_SENSOR

Constructor Summary

Constructors

Constructor and Description
NxtApplication()

Method Summary

Methods

Modifier and Type	Method and Description
private static void	addEscButtonListener() Ass listener to the ESC button
static String	bytesToHex(byte[] bytes) Convert byte array to Hexadecimal
private static void	initMotors() Initialize NXT's motors
static void	main(String[] args) Main function of the NXT application
private static void	printToLcd(String line0, int delay) Print to LCD
private static void	printToLcd(String line0, String line1, int delay) Print to LCD
private static void	printToLcd(String line0, String line1, String line2, int delay) Print to LCD
private static void	printToLcd(String line0, String line1, String line2, String line3, int delay) Print to LCD
static int[]	readRgbAverage(int numberOfSamples) Read color from sensor
private static void	runCommandListener() Run the main loop waiting for command from PC

Methods inherited from class java.lang.Object

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

Field Detail

motors

private static final NXTRegulatedMotor[] motors

colorSensor

private static final ColorSensor colorSensor

ultrasonicSensor

private static final UltrasonicSensor ultrasonicSensor

hexArray

private static final char[] hexArray

Constructor Detail

NxtApplication

public NxtApplication()

Method Detail

bytesToHex

public static String bytesToHex(byte[] bytes)

Convert byte array to Hexadecimal

Parameters:

bytes - The byte array to print as Hexadecimal

Returns:

Hexadecimal representation of the bytes array

initMotors

private static void initMotors()

Initialize NXT's motors

printToLcd

private static void printToLcd(String line0,
              int delay)

Print to LCD

Parameters:

line0 - 1st line to print

delay - Delay time in MS after the print

printToLcd

private static void printToLcd(String line0,
              String line1,
              int delay)

Print to LCD

Parameters:

line0 - 1st line to print

line1 - 2nd line to print

delay - Delay time in MS after the print

printToLcd

private static void printToLcd(String line0,
              String line1,
              String line2,
              int delay)

Print to LCD

Parameters:

line0 - 1st line to print

line1 - 2nd line to print

line2 - 3rd line to print

delay - Delay time in MS after the print

printToLcd

private static void printToLcd(String line0,
              String line1,
              String line2,
              String line3,
              int delay)

Print to LCD

Parameters:

line0 - 1st line to print

line1 - 2nd line to print

line2 - 3rd line to print

line3 - 4th line to print

delay - Delay time in MS after the print

addEscButtonListener

private static void addEscButtonListener()

Ass listener to the ESC button

readRgbAverage

public static int[] readRgbAverage(int numberOfSamples)

Read color from sensor

Parameters:

numberOfSamples - Number of reading to perform

Returns:

RGB array, each of the first three values between 0 to 255, last value is background

runCommandListener

private static void runCommandListener()

Run the main loop waiting for command from PC

This function exits upon pressing the ESC button on the NXT

main

public static void main(String[] args)

Main function of the NXT application