Module: NXT::Command::LowSpeed

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

Overview

An implementation of all the low speed I2C related NXT commands:

  • LSGETSTATUS

  • LSWRITE

  • LSREAD

This class can also be used to talk to other third-party accessories connected in the input ports on the NXT brick that talk using I2C low speed master/slave communication.

Constant Summary collapse

COMMAND_IDENTIFIER = 
{
  ls_get_status: 0x0E,
  ls_write: 0x0F,
  ls_read: 0x10
}.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/low_speed.rb', line 24

def command_type
  COMMAND_TYPES[:direct]
end

#ls_clear_buffer ⇒ Object 



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# File 'lib/nxt/commands/low_speed.rb', line 28

def ls_clear_buffer
  ls_read
rescue StandardError
  nil
end

#ls_get_status(response_required: false) ⇒ Object 



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# File 'lib/nxt/commands/low_speed.rb', line 34

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/low_speed.rb', line 42

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

#ls_write(response_required: false) ⇒ Object 



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# File 'lib/nxt/commands/low_speed.rb', line 38

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