Used for communication with a NXT brick. Mehr ...

#include <Brick.hpp>

Öffentliche Methoden
void	connect (const int p_interface=0)
void	disconnect ()
void	startProgram (const std::string &p_fileName)
	Starts a program on the brick with the given name.
void	stopProgram ()
	Stops the currently running program on the brick.
void	playSoundFile (const uint8_t p_loop, const std::string &p_fileName)
	Plays a sound on the brick with the given name.
void	playTone (const uint16_t p_frequency, const uint16_t p_durationMS)
	Plays a tone on the brick.
void	setOutputState (const uint8_t p_port, const uint8_t p_power, const uint8_t p_motorMode, const uint8_t p_regulationMode, const uint8_t p_turnRatio, const uint8_t p_runState, const uint32_t p_tachoLimit)
	Allows to control the motor with the given port.
void	setInputMode (const uint8_t p_port, const uint8_t p_type, const uint8_t p_mode)
	Sets type and mode of a sensor with the given port.
void	resetInputScaledValue (const uint8_t p_port)
	Resets the scaled output value of a sensor with the given port.
void	writeMessage (const uint8_t p_mailbox, const std::string &p_message)
	Sends a string message to the given mailbox of the brick.
void	resetMotorPosition (const uint8_t p_port, const uint8_t p_relative)
	Resets the motor data e.g.
void	stopSoundPlayback ()
	Stops the currently running sound.
void	lsWrite (const uint8_t p_port, const uint8_t p_txDataLength, const uint8_t p_rxDataLength, const unsigned char *p_txData)
OutputState	getOutputState (const uint8_t p_port)
	Reads the current state of the given motor.
InputValues	getInputValues (const uint8_t p_port)
	Reads the current measured values of the given sensor.
BatteryLevel	getBatteryLevel ()
	Reads the current battery level of the brick.
KeepAlive	keepAlive ()
LSStatus	lsGetStatus (const uint8_t p_port)
LSRead	lsRead (const uint8_t p_port)
ProgramName	getCurrentProgramName ()
	Reads the program name of the currently running program.
MailboxMessage	readMessage (const uint8_t p_remoteMailbox, const uint8_t p_localMailbox, const uint8_t p_removeMessage)
	Reads the first message in the message queue of the given mailbox.

Ausführliche Beschreibung

Used for communication with a NXT brick.

This class is used to connect and communicate with a LEGO NXT Brick. Telegram messages are sent via USB to the Brick and responses can be received.

Dokumentation der Elementfunktionen

BatteryLevel nxt::Brick::getBatteryLevel ( )

Reads the current battery level of the brick.

The voltage is measured in millivolts.

Rückgabe: voltage level of the brick

ProgramName nxt::Brick::getCurrentProgramName ( )

Reads the program name of the currently running program.

Rückgabe: program name

InputValues nxt::Brick::getInputValues ( const uint8_t p_port )

Reads the current measured values of the given sensor.

Parameter

p_port port of the sensor

Rückgabe: measured values of the sensor

OutputState nxt::Brick::getOutputState ( const uint8_t p_port )

Reads the current state of the given motor.

Parameter

p_port port of the motor

Rückgabe: state of the motor

void nxt::Brick::playSoundFile	(	const uint8_t	p_loop,
		const std::string &	p_fileName
	)

Plays a sound on the brick with the given name.

Parameter

p_loop	determines if sound should restart
p_fileName	name of the sound file

void nxt::Brick::playTone	(	const uint16_t	p_frequency,
		const uint16_t	p_durationMS
	)

Plays a tone on the brick.

Parameter

p_frequency	frequency of the tone
p_durationMS	duration of the tone

MailboxMessage nxt::Brick::readMessage	(	const uint8_t	p_remoteMailbox,
		const uint8_t	p_localMailbox,
		const uint8_t	p_removeMessage
	)

Reads the first message in the message queue of the given mailbox.

Parameter

p_remoteMailbox	mailbox on another connected brick
p_localMailbox	mailbox on the current brick
p_removeMessage	true if message should be deleted after reading

Rückgabe: message received from the mailbox

void nxt::Brick::resetInputScaledValue ( const uint8_t p_port )

Resets the scaled output value of a sensor with the given port.

Parameter

p_port port of the sensor

void nxt::Brick::resetMotorPosition	(	const uint8_t	p_port,
		const uint8_t	p_relative
	)

Resets the motor data e.g.

tachoCount.

Parameter

p_port	port of the motor
p_relative	true: relative to last position. false: absolute position

void nxt::Brick::setInputMode	(	const uint8_t	p_port,
		const uint8_t	p_type,
		const uint8_t	p_mode
	)

Sets type and mode of a sensor with the given port.

Parameter

p_port	port of the sensor
p_type	type of the sensor
p_mode	operation mode of the sensor

void nxt::Brick::setOutputState	(	const uint8_t	p_port,
		const uint8_t	p_power,
		const uint8_t	p_motorMode,
		const uint8_t	p_regulationMode,
		const uint8_t	p_turnRatio,
		const uint8_t	p_runState,
		const uint32_t	p_tachoLimit
	)

Allows to control the motor with the given port.

Parameter

p_port	port of the motor
p_power	power in percent [-100;100]
p_motorMode	operation mode of the motor
p_regulationMode	sets auto regulation mode of the motor (sync)
p_turnRation
p_runState	determines the running mode of the motor
p_tachoLimit	sets the tacho limit

void nxt::Brick::startProgram ( const std::string & p_fileName )

Starts a program on the brick with the given name.

Parameter

p_fileName name of the program

void nxt::Brick::writeMessage	(	const uint8_t	p_mailbox,
		const std::string &	p_message
	)

Sends a string message to the given mailbox of the brick.

The maximum message length is 58 characters.

Parameter

p_mailbox	number of the target mailbox
p_message	message to be sent to the mailbox

Die Dokumentation für diese Klasse wurde erzeugt aufgrund der Dateien:

/home/fabian/develop/nxt_minotaur/src/robot_control/lib/NXTControl/include/nxt/Brick.hpp
/home/fabian/develop/nxt_minotaur/src/robot_control/lib/NXTControl/src/nxt/Brick.cpp

Öffentliche Methoden

Ausführliche Beschreibung

Dokumentation der Elementfunktionen