com.qualcomm.robotcore.hardware

Interface LegacyModule

All Superinterfaces:

HardwareDevice, I2cController

public interface LegacyModule
extends HardwareDevice, I2cController

Legacy Module for working with NXT devices. The Modern Robotics Core Legacy Module provides backward compatibility to enable LEGO NXT devices to connect to an Android device or a PC via a USB connection. Each Legacy Module has six (6) ports and virtually any combination of devices can be connected to the module. The Legacy Module firmware supports all NXT LEGO sensors (except the Lego Color Sensor), HiTechnic sensors, Matrix controllers as well as the HiTechnic Tetrix motor and servo controllers. Each Legacy Module port can operate in digital as well as analog modes. In digital mode, legacy connector pins 5 and 6 can be set to logic 0 or logic 1. In analog mode, the voltage on legacy connector pin 1 is measured using a 10 bit analog to digital converter. Additionally, pins 5 and 6 can be set to logic 0 or logic 1 for control of the attached device, such as a LEGO light sensor which uses pin 5 to turn the sensor LED on and off. In I2C mode, legacy connector pins 5 and 6 are used to communicate with I2C devices in accordance with the LEGO interpretation of I2C. Ports 4 and 5 can additionally be switched into pin 1 9v supply mode to permit LEGO ultrasonic range sensors to be used

See Also:

Modern Robotics Legacy Module

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.I2cController

I2cController.I2cPortReadyBeginEndNotifications, I2cController.I2cPortReadyCallback

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields inherited from interface com.qualcomm.robotcore.hardware.I2cController

I2C_BUFFER_START_ADDRESS

Method Summary

Modifier and Type	Method and Description
void	enable9v(int physicalPort, boolean enable) Enable or disable 9V power on a port
void	enableAnalogReadMode(int physicalPort) Enable a physical port in analog read mode
double	getMaxAnalogInputVoltage() Returns the maximum voltage that can be read by our analog inputs
byte[]	readAnalogRaw(int physicalPort) Read an analog value from a device; only works in analog read mode
double	readAnalogVoltage(int physicalPort) Reads the analog voltage from a device.
void	setDigitalLine(int physicalPort, int line, boolean set) Set the value of digital line 0 or 1 while in analog mode.

Methods inherited from interface com.qualcomm.robotcore.hardware.I2cController

clearI2cPortActionFlag, copyBufferIntoWriteBuffer, deregisterForPortReadyBeginEndCallback, deregisterForPortReadyCallback, enableI2cReadMode, enableI2cWriteMode, getCopyOfReadBuffer, getCopyOfWriteBuffer, getI2cPortReadyCallback, getI2cReadCache, getI2cReadCacheLock, getI2cReadCacheTimeWindow, getI2cWriteCache, getI2cWriteCacheLock, getMaxI2cWriteLatency, getPortReadyBeginEndCallback, getSerialNumber, isArmed, isI2cPortActionFlagSet, isI2cPortInReadMode, isI2cPortInWriteMode, isI2cPortReady, readI2cCacheFromController, readI2cCacheFromModule, registerForI2cPortReadyCallback, registerForPortReadyBeginEndCallback, setI2cPortActionFlag, writeI2cCacheToController, writeI2cCacheToModule, writeI2cPortFlagOnlyToController, writeI2cPortFlagOnlyToModule

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

enableAnalogReadMode

void enableAnalogReadMode(int physicalPort)

Enable a physical port in analog read mode

Parameters:

physicalPort - physical port number on the device

readAnalogRaw

byte[] readAnalogRaw(int physicalPort)

Read an analog value from a device; only works in analog read mode

Parameters:

physicalPort - physical port number on the device

Returns:

byte[] containing the two analog values; low byte first, high byte second

readAnalogVoltage

double readAnalogVoltage(int physicalPort)

Reads the analog voltage from a device. The port indicated must currently be in analog read mode.

Parameters:

physicalPort - the port whose voltage is to be read

Returns:

the voltage level read, in volts

getMaxAnalogInputVoltage

double getMaxAnalogInputVoltage()

Returns the maximum voltage that can be read by our analog inputs

Returns:

the maximum voltage that can be read by our analog inputs

enable9v

void enable9v(int physicalPort,
              boolean enable)

Enable or disable 9V power on a port

Parameters:

physicalPort - physical port number on the device

enable - true to enable; false to disable

setDigitalLine

void setDigitalLine(int physicalPort,
                    int line,
                    boolean set)

Set the value of digital line 0 or 1 while in analog mode.

These are port pins 5 and 6.

Parameters:

physicalPort - physical port number on the device

line - line 0 or 1

set - true to set; otherwise false