NXT.API.DirectCommand Class Reference

Direct commands. More...

Inheritance diagram for NXT.API.DirectCommand:

Public Member Functions
	DirectCommand (Robot _robot)
	The constructor.
void	StartProgram (string name)
	Start the program stored in the NXT.
void	StopProgram ()
	Stop executing the current program.
void	PlaySoundFile (string name, bool loop)
	Play a specified sound file. The correct extension is .rso.
void	PlayTone (int frequency, int duration)
	Play tone with the specified frequency and duration.
void	SetOutputState (int port, int power_setpoint, OutputMode mode, RegulationMode regulation_mode, int turn_ratio, RunState run_state, int tacho_limit)
	Set output state for a specfic port.
void	SetInputMode (int port, int sensor_type, int sensor_mode)
	Set input mode for the specified port.
void	GetOutputState (int port, out byte[] response)
	Get readings from the specified output port.
void	GetInputValues (int port, out byte[] response)
	Get readings from the input port.
void	ResetInputScaledValue (int port)
	Reset the scaled value for the specified input port.
void	MessageWrite (string data, int box)
	Write a text message to the specified mailbox.
void	ResetMotorPosition (int port, bool relative)
	Reset motor position.
int	GetBatteryLevel ()
	Get battery level in mV.
void	StopSoundPlayback ()
	Stop playing the current sound.
int	KeepAlive ()
	Keep alive, return the current time limit in ms.
int	LSGetStatus (int port)
	Return the available bytes to read
void	LSWrite (int port, byte[] tx_data, int rx_data_length)
	LS Write command. tx_data should not be longer than 16 bytes.
void	LSRead (int port, out byte[] response)
	LS Read command
string	GetCurrentProgramName ()
	Get name of the current program.
string	MessageRead (int remote_inbox, int local_inbox, bool remove)
	Read message from the specified inbox.
Public Member Functions inherited from NXT.Component
	Component (Robot _robot)
	The constructor.

Public Attributes
bool	RequestResponse = false
	CheckResponse will require a confirmation from NXT. It might be slower and return exceptions.
Public Attributes inherited from NXT.Component
bool	AutoUpdate = true
	Automatic update option for methods requesting more than one piece of information.

Additional Inherited Members
Protected Attributes inherited from NXT.Component
Robot	robot
	The robot class, accessible by all dervied classes.

Detailed Description

Direct commands.

Constructor & Destructor Documentation

NXT.API.DirectCommand.DirectCommand

(

Robot

_robot

)

The constructor.

Member Function Documentation

int NXT.API.DirectCommand.GetBatteryLevel

(

)

Get battery level in mV.

string NXT.API.DirectCommand.GetCurrentProgramName

(

)

Get name of the current program.

void NXT.API.DirectCommand.GetInputValues	(	int	port,
		out byte[]	response
	)

Get readings from the input port.

void NXT.API.DirectCommand.GetOutputState	(	int	port,
		out byte[]	response
	)

Get readings from the specified output port.

int NXT.API.DirectCommand.KeepAlive

(

)

Keep alive, return the current time limit in ms.

int NXT.API.DirectCommand.LSGetStatus

(

int

port

)

Return the available bytes to read

void NXT.API.DirectCommand.LSRead	(	int	port,
		out byte[]	response
	)

LS Read command

void NXT.API.DirectCommand.LSWrite	(	int	port,
		byte[]	tx_data,
		int	rx_data_length
	)

LS Write command. tx_data should not be longer than 16 bytes.

string NXT.API.DirectCommand.MessageRead	(	int	remote_inbox,
		int	local_inbox,
		bool	remove
	)

Read message from the specified inbox.

void NXT.API.DirectCommand.MessageWrite	(	string	data,
		int	box
	)

Write a text message to the specified mailbox.

void NXT.API.DirectCommand.PlaySoundFile	(	string	name,
		bool	loop
	)

Play a specified sound file. The correct extension is .rso.

void NXT.API.DirectCommand.PlayTone	(	int	frequency,
		int	duration
	)

Play tone with the specified frequency and duration.

Parameters

frequency	200-14000 Hz
duration	in ms

void NXT.API.DirectCommand.ResetInputScaledValue

(

int

port

)

Reset the scaled value for the specified input port.

void NXT.API.DirectCommand.ResetMotorPosition	(	int	port,
		bool	relative
	)

Reset motor position.

void NXT.API.DirectCommand.SetInputMode	(	int	port,
		int	sensor_type,
		int	sensor_mode
	)

Set input mode for the specified port.

void NXT.API.DirectCommand.SetOutputState	(	int	port,
		int	power_setpoint,
		OutputMode	mode,
		RegulationMode	regulation_mode,
		int	turn_ratio,
		RunState	run_state,
		int	tacho_limit
	)

Set output state for a specfic port.

void NXT.API.DirectCommand.StartProgram

(

string

name

)

Start the program stored in the NXT.

Recognised extensions: .rxe - user defined programs .rtm - try me programs .rfw - firmware .rxe - user defined programs .rpg - on-brick programs .rtm - try-me programs

void NXT.API.DirectCommand.StopProgram

(

)

Stop executing the current program.

void NXT.API.DirectCommand.StopSoundPlayback

(

)

Stop playing the current sound.

Member Data Documentation

bool NXT.API.DirectCommand.RequestResponse = false

CheckResponse will require a confirmation from NXT. It might be slower and return exceptions.

---

The documentation for this class was generated from the following file:

• C:/Users/Greg/Documents/GitHub/RoboLib/src/NXT.cs