Module: NXT::Command::Input

Extended by:
Utils::Accessors
Includes:
Base
Included in:
NXT::Connector::Input::Ultrasonic
Defined in:
lib/nxt/commands/input.rb

Overview

An implementation of all the input related NXT commands:

  • SETINPUTMODE

  • GETINPUTVALUES

  • RESETINPUTSCALEDVALUE

This class can also be used to talk to other third-party accessories connected in the input ports on the NXT brick.

Constant Summary collapse

COMMAND_IDENTIFIER = 
{
  set_input_mode: 0x05,
  get_input_values: 0x07,
  reset_input_scaled_value: 0x08,
  ls_get_status: 0x0E,
  ls_write: 0x0F,
  ls_read: 0x10
}.freeze
SENSOR_TYPE =

The sensor type enum. This is a list of possible values when setting the sensor type byte.

Reference: Appendix 2, Page 7

{
  no_sensor: 0x00,
  switch: 0x01,
  temperature: 0x02,
  reflection: 0x03,
  angle: 0x04,
  light_active: 0x05,
  light_inactive: 0x06,
  sound_db: 0x07,
  sound_dba: 0x08,
  custom: 0x09,
  lowspeed: 0x0A,
  lowspeed_9v: 0x0B,
  no_of_sensor_types: 0x0C
}.freeze
SENSOR_MODE =

The sensor mode enum. This is a list of possible values when setting the sensor mode byte.

Reference: Appendix 2, Page 7

{
  raw: 0x00,
  boolean: 0x20,
  transition_cnt: 0x40,
  period_counter: 0x60,
  pct_full_scale: 0x80,
  celsius: 0xA0,
  fahrenheit: 0xC0,
  angle_steps: 0xE0,
  slope: 0x1F,
  mode_mask: 0x00
}.freeze

Instance Method Summary collapse

Methods included from Utils::Accessors

attr_setter

Methods included from Utils::Assertions

#assert_in, #assert_responds_to, #assert_type

Instance Method Details

#command_type ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 69

def command_type
  COMMAND_TYPES[:direct]
end

#input_values ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 84

def input_values
  # TODO: Parse this response and return hash or something similar.
  send_and_receive(COMMAND_IDENTIFIER[:get_input_values], [], response_required)
end

#ls_get_status(response_required: false) ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 94

def ls_get_status(response_required: false)
  send_and_receive(COMMAND_IDENTIFIER[:ls_get_status], [], response_required)
end

#ls_read(response_required: false) ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 102

def ls_read(response_required: false)
  send_and_receive(COMMAND_IDENTIFIER[:ls_read], [], response_required)
end

#ls_write(bytes, response_required: false) ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 98

def ls_write(bytes, response_required: false)
  send_and_receive(COMMAND_IDENTIFIER[:ls_write], bytes, response_required)
end

#reset_input_scaled_value ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 89

def reset_input_scaled_value
  # TODO: Parse this response and return hash or something similar.
  send_and_receive(COMMAND_IDENTIFIER[:reset_input_scaled_value], [], response_required)
end

#update_input_mode(response_required: false) ⇒ Object 



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# File 'lib/nxt/commands/input.rb', line 73

def update_input_mode(response_required: false)
  send_and_receive(
    COMMAND_IDENTIFIER[:set_input_mode],
    [
      SENSOR_TYPE[sensor_type],
      SENSOR_MODE[sensor_mode]
    ],
    response_required
  )
end