NXTMMX Class Reference

This class interfaces with NXTMMX attached to NXShield. More...

#include <NXTMMX.h>

Inheritance diagram for NXTMMX:

Public Member Functions
	NXTMMX (uint8_t i2c_address=0x06)
uint8_t	getBatteryVoltage ()
uint8_t	issueCommand (char command)
bool	setEncoderTarget (uint8_t which_motor, long target)
long	getEncoderTarget (uint8_t which_motor)
bool	setSpeed (uint8_t which_motor, int speed)
int8_t	getSpeed (uint8_t which_motor)
bool	getTimeToRun (uint8_t which_motor, int seconds)
uint8_t	getTimeToRun (uint8_t which_motor)
bool	setCommandRegB (uint8_t which_motor, uint8_t value)
uint8_t	getCommandRegB (uint8_t which_motor)
bool	setCommandRegA (uint8_t which_motor, uint8_t value)
uint8_t	getCommandRegA (uint8_t which_motor)
int32_t	getEncoderPosition (uint8_t which_motor)
uint8_t	getMotorStatusByte (uint8_t which_motor)
uint8_t	getMotorTasksRunningByte (uint8_t which_motor)
bool	setEncoderPID (uint16_t Kp, uint16_t Ki, uint16_t Kd)
bool	setSpeedPID (uint16_t Kp, uint16_t Ki, uint16_t Kd)
bool	setPassCount (uint8_t pass_count)
bool	setTolerance (uint8_t tolerance)
bool	reset ()
bool	startMotorsInSync ()
bool	resetEncoder (uint8_t which_motor)
bool	setSpeedTimeAndControl (uint8_t which_motors, int speed, uint8_t duration, uint8_t control)
bool	setEncoderSpeedTimeAndControl (uint8_t which_motors, long encoder, int speed, uint8_t duration, uint8_t control)
bool	isTimeDone (uint8_t which_motors)
void	waitUntilTimeDone (uint8_t which_motors)
bool	isTachoDone (uint8_t which_motors)
void	waitUntilTachoDone (uint8_t which_motors)
void	runUnlimited (uint8_t which_motors, uint8_t direction, int speed)
void	runSeconds (uint8_t which_motors, uint8_t direction, int speed, uint8_t duration, uint8_t wait_for_completion, uint8_t next_action)
void	runTachometer (uint8_t which_motors, uint8_t direction, int speed, long tachometer, uint8_t relative, uint8_t wait_for_completion, uint8_t next_action)
void	runDegrees (uint8_t which_motors, uint8_t direction, int speed, long degrees, uint8_t wait_for_completion, uint8_t next_action)
void	runRotations (uint8_t which_motors, uint8_t direction, int speed, long rotations, uint8_t wait_for_completion, uint8_t next_action)
bool	stop (uint8_t which_motors, uint8_t next_action)
Public Member Functions inherited from NXShieldI2C
	NXShieldI2C (uint8_t i2c_address)
void	init (void *shield, SH_BankPort bp)
uint8_t	readByte (uint8_t location)
uint16_t	readInteger (uint8_t location)
uint32_t	readLong (uint8_t location)
uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes, uint8_t *buf)
char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)
bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)
bool	writeByte (uint8_t location, uint8_t data)
bool	writeInteger (uint8_t location, uint16_t data)
bool	writeLong (uint8_t location, uint32_t data)
char *	getFirmwareVersion ()
char *	getVendorID ()
char *	getDeviceID ()
char *	getFeatureSet ()
uint8_t	getErrorCode ()
bool	checkAddress ()
bool	setAddress (uint8_t address)
Public Member Functions inherited from BaseI2CDevice
	BaseI2CDevice (uint8_t i2c_address)
void	initProtocol ()
uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0, bool clear_buffer=false)
uint8_t	readByte (uint8_t location)
int16_t	readInteger (uint8_t location)
uint32_t	readLong (uint8_t location)
char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)
bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)
bool	writeByte (uint8_t location, uint8_t data)
bool	writeInteger (uint8_t location, uint16_t data)
bool	writeLong (uint8_t location, uint32_t data)
bool	checkAddress ()
bool	setAddress (uint8_t i2c_address)
uint8_t	getAddress ()
uint8_t	getWriteErrorCode ()
char *	getFirmwareVersion ()
char *	getVendorID ()
char *	getDeviceID ()
char *	getFeatureSet ()
Public Member Functions inherited from SoftI2cMaster
uint8_t	start (uint8_t addressRW)
void	stop (void)
uint8_t	restart (uint8_t addressRW)
uint8_t	write (uint8_t b)
uint8_t	read (uint8_t last)
	SoftI2cMaster (uint8_t devAddr)
void	initProtocol (uint8_t sclPin=NULL, uint8_t sdaPin=NULL)
uint8_t *	readRegisters (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL)
bool	writeRegistersWithLocation (int bytes, uint8_t *buf)
bool	writeRegisters (uint8_t location, uint8_t bytes_to_write, uint8_t *buffer=0)
bool	writeByte (uint8_t location, uint8_t data)
bool	writeInteger (uint8_t location, uint16_t data)
bool	writeLong (uint8_t location, uint32_t data)
char *	readString (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL, uint8_t len=0)
uint8_t	readByte (uint8_t location)
int16_t	readInteger (uint8_t location)
uint32_t	readLong (uint8_t location)
char *	getFirmwareVersion ()
char *	getVendorID ()
char *	getDeviceID ()
uint8_t	getWriteErrorCode ()
bool	checkAddress ()
bool	setAddress (uint8_t address)

Additional Inherited Members
Public Attributes inherited from NXShieldI2C
void *	mp_shield
uint8_t *	_i2c_buffer
uint8_t	m_protocol
Public Attributes inherited from SoftI2cMaster
uint8_t *	_so_buffer
Static Public Attributes inherited from BaseI2CDevice
static uint8_t *	_buffer = 0
static bool	b_initialized = false
Protected Member Functions inherited from BaseI2CDevice
void	setWriteErrorCode (uint8_t code)

Detailed Description

This class interfaces with NXTMMX attached to NXShield.

Constructor & Destructor Documentation

NXTMMX::NXTMMX

(

uint8_t

i2c_address = 0x06

)

constructor for NXTMMX

Member Function Documentation

uint8_t NXTMMX::getBatteryVoltage

(

)

get the battery voltage for the MMX

int32_t NXTMMX::getEncoderPosition

(

uint8_t

which_motor

)

get the current encoder position of the motor in degrees

long NXTMMX::getEncoderTarget

(

uint8_t

which_motor

)

get the target encoder position for the motor

uint8_t NXTMMX::getMotorStatusByte

(

uint8_t

which_motor

)

get the current status of the motor

uint8_t NXTMMX::getMotorTasksRunningByte

(

uint8_t

which_motor

)

get the tasks that are running on the specific motor

int8_t NXTMMX::getSpeed

(

uint8_t

which_motor

)

get the speed of the motor

bool NXTMMX::getTimeToRun	(	uint8_t	which_motor,
		int	seconds
	)

set the time in seconds for which the motor should run for

uint8_t NXTMMX::getTimeToRun

(

uint8_t

which_motor

)

get the time in seconds that the motor is running for

uint8_t NXTMMX::issueCommand

(

char

command

)

issue a command to this bank of the NXTMMX

bool NXTMMX::isTachoDone

(

uint8_t

which_motors

)

validate if the motor has reached its set target tachometer position

bool NXTMMX::isTimeDone

(

uint8_t

which_motors

)

validate if the motor has finished running for the set time duration

bool NXTMMX::reset

(

)

reset all the set values for the motors

bool NXTMMX::resetEncoder

(

uint8_t

which_motor

)

reset the current encoder position to zero for the motor

void NXTMMX::runDegrees	(	uint8_t	which_motors,
		uint8_t	direction,
		int	speed,
		long	degrees,
		uint8_t	wait_for_completion,
		uint8_t	next_action
	)

run the motor for a set number of degrees and proceed to the next action

void NXTMMX::runRotations	(	uint8_t	which_motors,
		uint8_t	direction,
		int	speed,
		long	rotations,
		uint8_t	wait_for_completion,
		uint8_t	next_action
	)

run the motor for a set number of complete rotations and proceed to the next action

void NXTMMX::runSeconds	(	uint8_t	which_motors,
		uint8_t	direction,
		int	speed,
		uint8_t	duration,
		uint8_t	wait_for_completion,
		uint8_t	next_action
	)

run the motor for a set duration at a set speed and do the next action

void NXTMMX::runTachometer	(	uint8_t	which_motors,
		uint8_t	direction,
		int	speed,
		long	tachometer,
		uint8_t	relative,
		uint8_t	wait_for_completion,
		uint8_t	next_action
	)

run until the tachometer target has been reached and do next action

void NXTMMX::runUnlimited	(	uint8_t	which_motors,
		uint8_t	direction,
		int	speed
	)

run the motor endlessly at the desired speed in the desired direction

bool NXTMMX::setEncoderPID	(	uint16_t	Kp,
		uint16_t	Ki,
		uint16_t	Kd
	)

set the PID control for the encoders

bool NXTMMX::setEncoderSpeedTimeAndControl	(	uint8_t	which_motors,
		long	encoder,
		int	speed,
		uint8_t	duration,
		uint8_t	control
	)

set the ratget encoder position, speed, duration to run, and control for the motor

bool NXTMMX::setEncoderTarget	(	uint8_t	which_motor,
		long	target
	)

set the target encoder position for the motor

bool NXTMMX::setPassCount

(

uint8_t

pass_count

)

set how many times the PID controller is allowed to oscillate about the set point

bool NXTMMX::setSpeed	(	uint8_t	which_motor,
		int	speed
	)

set the speed of the motor

bool NXTMMX::setSpeedPID	(	uint16_t	Kp,
		uint16_t	Ki,
		uint16_t	Kd
	)

set the PID control for the speed of the motors

bool NXTMMX::setSpeedTimeAndControl	(	uint8_t	which_motors,
		int	speed,
		uint8_t	duration,
		uint8_t	control
	)

set the speed, duration to run, and control for the motor

bool NXTMMX::setTolerance

(

uint8_t

tolerance

)

set how far away from the set point the PID controller is allowed to oscillate (amplitude)

bool NXTMMX::startMotorsInSync

(

)

start both motors at the same time to follow the set conditions

bool NXTMMX::stop	(	uint8_t	which_motors,
		uint8_t	next_action
	)

stop the motor and do an action

void NXTMMX::waitUntilTachoDone

(

uint8_t

which_motors

)

wait until the motor has reached its set target tachometer position

void NXTMMX::waitUntilTimeDone

(

uint8_t

which_motors

)

wait until the motor has finished running for its set respective time duration

---

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

• NXTMMX.h
• NXTMMX.cpp