public void LSRead(NXTInputPort inputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[20];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.LSREAD;
command[2] = (byte)inputPort;
SendCommand(command, reply);
}
public void ResetInputScaledValue(NXTInputPort inputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.RESETINPUTSCALEDVALUE;
command[2] = (byte)inputPort;
SendCommand(command, reply);
}
public void SetInputMode(NXTInputPort inputPort, NXTSensorType sensorType, NXTSensorMode sensorMode, bool sendResponse = true)
{
byte[] command = new byte[5];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.SETINPUTMODE;
command[2] = (byte)inputPort;
command[3] = (byte)sensorType;
command[4] = (byte)sensorMode;
SendCommand(command, reply);
}
public void LSWrite(NXTInputPort inputPort, byte[] transmitData, byte receiveLen, bool sendResponse = true)
{
byte[] command = new byte[5 + transmitData.Length];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.LSWRITE;
command[2] = (byte)inputPort;
command[3] = (byte)transmitData.Length;
command[4] = (byte)receiveLen;
Array.Copy(transmitData, 0, command, 5, transmitData.Length);
SendCommand(command, reply);
}
public void InputState(NXTInputPort inputPort, bool isValid, bool isCalibrated, NXTSensorType sensorType, NXTSensorMode sensorMode, long rawValue, long normalizedValue, long scaleValue, long calibratedValue)
{
Log("--------- Input State ----------------");
Log("Input Port\t= " + inputPort.ToString());
Log("Is Valid\t= " + isValid.ToString());
Log("Is Calibrated\t= " + isCalibrated.ToString());
Log("Sensor Type\t= " + sensorType.ToString());
Log("Sensor Mode\t= " + sensorMode.ToString());
Log("Raw Value\t= " + rawValue.ToString());
Log("Normalized Value\t= " + normalizedValue.ToString());
Log("Scaled Value\t= " + scaleValue.ToString());
Log("Calibrated Value\t= " + calibratedValue.ToString());
Log("---------------------------------------");
}
public void GetInputValues(NXTInputPort inputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[16];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.GETINPUTVALUES;
command[2] = (byte)inputPort;
SendCommand(command, reply);
if (!sendResponse)
{
return;
}
}
public void GetUltrasonicValue(NXTInputPort inputPort, byte currentStep = 0, bool sendResponse = true)
{
if (currentStep == 0)
{
byte[] transmitData = new byte[2] {
0x02, 0x42
};
LSWrite(inputPort, transmitData, 1);
LSGetStatus(inputPort);
LSRead(inputPort);
}
else if (currentStep == 1)
{
LSGetStatus(inputPort);
}
else if (currentStep == 2)
{
LSRead(inputPort);
}
}
public void GetUltrasonicValue_Step2(NXTInputPort inputPort)
{
}
public void GetUltrasonicValue(NXTInputPort inputPort)
{
currentPort = inputPort;
NXT.GetUltrasonicValue(inputPort, 0);
}
public void ResetInputScaledValue(NXTInputPort inputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.RESETINPUTSCALEDVALUE;
command[2] = (byte)inputPort;
SendCommand(command, reply);
}
public void SetInputMode(NXTInputPort inputPort, NXTSensorType sensorType, NXTSensorMode sensorMode, bool sendResponse = true)
{
byte[] command = new byte[5];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.SETINPUTMODE;
command[2] = (byte)inputPort;
command[3] = (byte)sensorType;
command[4] = (byte)sensorMode;
SendCommand(command, reply);
}
public void LSWrite(NXTInputPort inputPort, byte[] transmitData, byte receiveLen, bool sendResponse = true)
{
byte[] command = new byte[5 + transmitData.Length];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.LSWRITE;
command[2] = (byte)inputPort;
command[3] = (byte)transmitData.Length;
command[4] = (byte)receiveLen;
Array.Copy(transmitData, 0, command, 5, transmitData.Length);
SendCommand(command, reply);
}
public void LSRead(NXTInputPort inputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[20];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.LSREAD;
command[2] = (byte)inputPort;
SendCommand(command, reply);
}
public void GetUltrasonicValue_Step2(NXTInputPort inputPort)
{
}
public void GetUltrasonicValue(NXTInputPort inputPort, byte currentStep = 0, bool sendResponse = true)
{
if (currentStep == 0)
{
byte[] transmitData = new byte[2] { 0x02, 0x42 };
LSWrite(inputPort, transmitData, 1);
LSGetStatus(inputPort);
LSRead(inputPort);
}
else if (currentStep == 1)
{
LSGetStatus(inputPort);
}
else if (currentStep == 2)
{
LSRead(inputPort);
}
}
public void GetInputValues(NXTInputPort inputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[16];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.GETINPUTVALUES;
command[2] = (byte)inputPort;
SendCommand(command, reply);
if (!sendResponse) return;
}
