/// <summary>
/// Sends a string to the NXT, useful for your custom NXT-g program
/// </summary>
/// <param name="message">Message to send, kindly limit to 59 characters, you may risk it if you wont :)</param>
/// <param name="inbox">Inbox to drop the message to NXT, default is inbox 1 on NXT</param>
public void SendString(string message, NxtInbox inbox = NxtInbox.Inbox1)
{
// byte command derived from my nxtblue phone controller
// check "Appendix 1-LEGO MINDSTORMS NXT Communication protocol" for reference (MESSAGEWRITE)
int totalLen = 6 + message.Length + 1; // +6 for the header; +1 for the terminator char later
byte[] cmd = new byte[totalLen];
int lsb, msb;
// convert the length to lsb and msb
lsb = (totalLen - 2) & 0x0F; // just get from command type, byte 2
msb = 0;
cmd[0] = (byte)lsb; // byte 0 and 1 are for the message size
cmd[1] = (byte)msb;
cmd[2] = 0x80; // command type (this case it is direct command no response
cmd[3] = 0x09; // command means "messagewrite"
switch (inbox)
{
case NxtInbox.Inbox1:
// inbox on NXT, in our case this is inbox 0
cmd[4] = (byte)0x00;
break;
default:
// default to inbox 0
cmd[4] = (byte)0x00;
break;
}
message += '\0'; // add the terminating \0 to the message
cmd[5] = (byte)(message.Length); // length of message, plus terminator \0
Encoding.ASCII.GetBytes(message).CopyTo(cmd, 6); // add the message
sendMessage(cmd); // send the message finally
}
/// <summary>
/// Sends a string to the NXT, useful for your custom NXT-g program
/// </summary>
/// <param name="message">Message to send, kindly limit to 59 characters, you may risk it if you wont :)</param>
/// <param name="inbox">Inbox to drop the message to NXT, default is inbox 1 on NXT</param>
public void SendString(string message, NxtInbox inbox = NxtInbox.Inbox1)
{
// byte command derived from my nxtblue phone controller
// check "Appendix 1-LEGO MINDSTORMS NXT Communication protocol" for reference (MESSAGEWRITE)
int totalLen = 6 + message.Length + 1; // +6 for the header; +1 for the terminator char later
byte[] cmd = new byte[totalLen];
int lsb, msb;
// convert the length to lsb and msb
lsb = (totalLen-2) & 0x0F; // just get from command type, byte 2
msb = 0;
cmd[0] = (byte)lsb; // byte 0 and 1 are for the message size
cmd[1] = (byte)msb;
cmd[2] = 0x80; // command type (this case it is direct command no response
cmd[3] = 0x09; // command means "messagewrite"
switch (inbox) {
case NxtInbox.Inbox1:
// inbox on NXT, in our case this is inbox 0
cmd[4] = (byte)0x00;
break;
default:
// default to inbox 0
cmd[4] = (byte)0x00;
break;
}
message += '\0'; // add the terminating \0 to the message
cmd[5] = (byte)(message.Length); // length of message, plus terminator \0
Encoding.ASCII.GetBytes(message).CopyTo(cmd, 6); // add the message
sendMessage(cmd); // send the message finally
}
