robot

Class NxtCommand

java.lang.Object

robot.NxtCommand

public class NxtCommand
extends Object

This class implements a connection to the NXT application

The class allows sending commands to the NXT in order to control the motors and sensors. The NXT application must be running before initializing the class.

See Also:

NxtApplication, NxtOperation

Field Summary

Fields

Modifier and Type	Field and Description
(package private) static NXTConnector	connection
(package private) static boolean	isMock
(package private) static ArrayList<byte[]>	mockCommands

Constructor Summary

Constructors

Constructor and Description
NxtCommand()

Method Summary

Methods

Modifier and Type	Method and Description
static void	close() Close connection to the NXT
static ArrayList<byte[]>	getMockedCommands() Get mocked commands
static void	init() Initialize connection to the NXT
static void	initMock() Initialize mock version of NXT
static byte[]	sendCommand(byte operationType, int port, byte operationId, int argument, int expectedReturnSize) Send command to the NXT

Methods inherited from class java.lang.Object

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

Field Detail

connection

static NXTConnector connection

isMock

static boolean isMock

mockCommands

static ArrayList<byte[]> mockCommands

Constructor Detail

NxtCommand

public NxtCommand()

Method Detail

init

public static void init()

Initialize connection to the NXT

NXT application must be running before initialization

initMock

public static void initMock()

Initialize mock version of NXT

getMockedCommands

public static ArrayList<byte[]> getMockedCommands()

Get mocked commands

Returns:

List of mocked commands since init

close

public static void close()

Close connection to the NXT

sendCommand

public static byte[] sendCommand(byte operationType,
                 int port,
                 byte operationId,
                 int argument,
                 int expectedReturnSize)

Send command to the NXT

Parameters:

operationType - The operation type

port - Port of the motor or sensor if relevant

operationId - The operation ID

argument - Argument for the requested operation

expectedReturnSize - The expected return size of the operation (bytes)

Returns:

Response from the NXT if supported by the command