#include "comm.h"#include <time.h>#include <math.h>#include <string>#include <iostream>#include <vector>Include dependency graph for NXT++.h:
Go to the source code of this file.
Namespaces | |
| namespace | NXT |
| namespace | NXT::Motor |
| namespace | NXT::Sensor |
| namespace | NXT::File |
| namespace | NXT::Module |
| namespace | NXT::NxtCam |
Enumerations | |
| enum | SensorType { Touch, Sound, Light, ActiveLight, Sonar } |
| Defines different types of sensors. More... | |
| enum | NXT::File::FileType { NXT::File::ANY, NXT::File::PROGRAM, NXT::File::SOUND, NXT::File::GRAPHICS, NXT::File::DATALOG } |
| Defines different types of resource files. More... | |
| enum | NXT::File::FileMode { NXT::File::READ, NXT::File::WRITE, NXT::File::APPEND, NXT::File::DATA_WRITE, NXT::File::LINEAR_WRITE } |
| Defines different types of file modes. More... | |
Functions | |
| bool | NXT::Open (Comm::NXTComm *comm) |
| Initiates the NXT connection. | |
| bool | NXT::OpenBT (Comm::NXTComm *comm) |
| Initiates the NXT connection through Bluetooth. | |
| void | NXT::Close (Comm::NXTComm *comm) |
| Closes the NXT connection. | |
| void | NXT::PlayTone (Comm::NXTComm *comm, int frequency, int duration) |
| Plays a tone. | |
| int | NXT::BatteryLevel (Comm::NXTComm *comm) |
| Returns the current battery level. | |
| std::string | NXT::GetName (Comm::NXTComm *comm) |
| Gets the name of the NXT. | |
| double | NXT::GetAvailableFlash (Comm::NXTComm *comm) |
| Gets the amount of availiable flash memory on the NXT. | |
| void | NXT::StopProgram (Comm::NXTComm *comm) |
| Stops the current program if one is running. | |
| double | NXT::GetProtocolVersion (Comm::NXTComm *comm) |
| Gets the protocol version of the NXT. | |
| double | NXT::GetFirmwareVersion (Comm::NXTComm *comm) |
| Gets the firmware version of the NXT. | |
| void | NXT::StartProgram (Comm::NXTComm *comm, std::string name) |
| Starts a program on the NXT with a specified name. | |
| void | NXT::PlaySoundFile (Comm::NXTComm *comm, std::string name, bool loop) |
| Plays a sound file on the NXT with a specified name. | |
| void | NXT::StopSound (Comm::NXTComm *comm) |
| Stops the currently playing sound. | |
| void | NXT::KeepAlive (Comm::NXTComm *comm) |
| Resets the internal sleep timer. | |
| void | NXT::SendDirectCommand (Comm::NXTComm *comm, ViBoolean response, ViByte *dc_buf, int dc_buf_size, ViByte *re_buf, int re_buf_size) |
| Sends a direct command to the NXT. | |
| int | NXT::Motor::GetRotationCount (Comm::NXTComm *comm, int port) |
| Returns the rotation of a motor. | |
| void | NXT::Motor::ResetRotationCount (Comm::NXTComm *comm, int port, bool relative) |
| Resets the specified motor's rotation count. | |
| void | NXT::Motor::SetForward (Comm::NXTComm *comm, int port, int power) |
| Sets a motor to turn forward at a specified power. | |
| void | NXT::Motor::SetReverse (Comm::NXTComm *comm, int port, int power) |
| Sets a motor to turn backward at a specified power. | |
| void | NXT::Motor::Stop (Comm::NXTComm *comm, int port, bool brake) |
| Tells a motor to stop turning. | |
| void | NXT::Motor::BrakeOn (Comm::NXTComm *comm, int port) |
| Tells a motor to turn the brake on. | |
| void | NXT::Motor::BrakeOff (Comm::NXTComm *comm, int port) |
| Tells a motor to turn the brake off. | |
| void | NXT::Motor::GoTo (Comm::NXTComm *comm, int port, int power, int tacho, bool brake) |
| Tells a motor to go to a certian angle and then stop. | |
| void | NXT::Sensor::SetTouch (Comm::NXTComm *comm, int port) |
| Sets a sensor in a specified port to a touch sensor. | |
| void | NXT::Sensor::SetSound (Comm::NXTComm *comm, int port) |
| Sets a sensor in a specified port to a sound sensor. | |
| void | NXT::Sensor::SetLight (Comm::NXTComm *comm, int port, bool active) |
| Sets a sensor in a specified port to a light sensor. | |
| void | NXT::Sensor::SetSonar (Comm::NXTComm *comm, int port) |
| Sets a sensor in a specified port to a sonar sensor. | |
| void | NXT::Sensor::SetCmpsNx (Comm::NXTComm *comm, int port) |
| Sets a sensor in a specified port to a Mind Sensors Compass sensor. | |
| void | NXT::Sensor::SetDistNx (Comm::NXTComm *comm, int port) |
| Sets a sensor in a specified port to a Mind Sensors Distance sensor. | |
| void | NXT::Sensor::SetRaw (Comm::NXTComm *comm, int port) |
| Sets a sensor to return a raw value (not formatted in any way). | |
| void | NXT::Sensor::Set (Comm::NXTComm *comm, int port, SensorType type) |
| Sets a sensor to a specified SensorType. | |
| int | NXT::Sensor::GetValue (Comm::NXTComm *comm, int port) |
| Retrieves the value of a sensor. | |
| int | NXT::Sensor::GetAvgCmpsNxValue (Comm::NXTComm *comm, int port, int numValues, int waitTime) |
| Retrieves multiple values of the Mindsensors Compass sensor and averages them. | |
| int | NXT::Sensor::GetCmpsNxValue (Comm::NXTComm *comm, int port) |
| Retrieves the value of the Mindsensors Compass sensor. | |
| int | NXT::Sensor::GetDistNxValue (Comm::NXTComm *comm, int port) |
| Retrieves the value of the Mindsensors Distance sensor. | |
| int | NXT::Sensor::GetCleanDistNxValue (Comm::NXTComm *comm, int port) |
| Retrieves multiple values of the Mindsensors Distance sensor and averages them. | |
| int | NXT::Sensor::LSGetStatus (Comm::NXTComm *comm, int port) |
| Gets the status of the lowspeed port. | |
| int | NXT::Sensor::GetSonarValue (Comm::NXTComm *comm, int port) |
| Retrieves the value for sonar sensors. | |
| void | NXT::Sensor::SetSonarOff (Comm::NXTComm *comm, int port) |
| Tells the sonar sensor to stop sending pulses. | |
| void | NXT::Sensor::SetSonarSingleShot (Comm::NXTComm *comm, int port) |
| Tells the sonar sensor to only send a pulse when you ask it what it's value is. | |
| void | NXT::Sensor::SetSonarContinuous (Comm::NXTComm *comm, int port) |
| Tells the sonar sensor to continuously send pulses. | |
| void | NXT::Sensor::SetSonarContinuousInterval (Comm::NXTComm *comm, int port, int interval) |
| Sets the interval at which the sonar sensor sends a pulse. | |
| void | NXT::Sensor::writeI2C (Comm::NXTComm *comm, int port, ViUInt8 command[], int replySz, int tx_length) |
| Writes the command to the I2C sensor. | |
| ViUInt8 * | NXT::Sensor::readI2C (Comm::NXTComm *comm, int port) |
| Reads the values from the registers of an I2C sensor. | |
| int | NXT::File::getNXTFile (Comm::NXTComm *comm, std::string filename, NXTFile &file) |
| Retrieves a specific NXT file pointer by name. | |
| int | NXT::File::getNXTFilesByName (Comm::NXTComm *comm, std::string pattern, NXTFileIterator &iter) |
| Retrieves NXT file pointers by name. | |
| int | NXT::File::getNXTFilesByType (Comm::NXTComm *comm, int fileType, NXTFileIterator &iter) |
| Retrieves NXT file pointers by type. | |
| void | NXT::File::destroyFileIterator (Comm::NXTComm *comm, NXTFileIterator &iter) |
| Destroys a file iterator. | |
| void | NXT::File::destroyFile (Comm::NXTComm *comm, NXTFile &file) |
| Destroys a file pointer. | |
| int | NXT::Module::getNXTModules (Comm::NXTComm *comm, std::string pattern, NXTModuleIterator &iter) |
| Retrieves NXT module pointers by name. | |
| int | NXT::Module::getNXTModule (Comm::NXTComm *comm, std::string pattern, int moduleID, int moduleSize, int ioMapSize, int &status, NXTModule &module) |
| Retrieves a specific module pointer by name. | |
| void | NXT::NxtCam::NxtCamFlush (Comm::NXTComm *comm, int port) |
| void | NXT::NxtCam::NxtCamCmd (Comm::NXTComm *comm, int port, ViUInt8 command[], int tx_length) |
| void | NXT::NxtCam::NxtCamInit (Comm::NXTComm *comm, int port) |
| void | Wait (int time) |
| Waits a specified time. | |
Variables | |
| const int | OUT_A = 0 |
| Motor port A on the NXT. | |
| const int | OUT_B = 1 |
| Motor port B on the NXT. | |
| const int | OUT_C = 2 |
| Motor port C on the NXT. | |
| const int | IN_1 = 0 |
| Sensor port 1 on the NXT. | |
| const int | IN_2 = 1 |
| Sensor port 2 on the NXT. | |
| const int | IN_3 = 2 |
| Sensor port 3 on the NXT. | |
| const int | IN_4 = 3 |
| Sensor port 4 on the NXT. | |
| enum SensorType |
Defines different types of sensors.
| Touch | A touch sensor. GetValue() returns a boolean. |
| Sound | A sound sensor. GetValue() returns a decibel value. |
| Light | A light sensor with the infrared light off. GetValue() returns a percent. |
| ActiveLight | A light sensor with the infrared light on. GetValue() returns a percent. |
| Sonar | An ultrasonic sensor. GetValue() returns a distance in centimeters. |
| void Wait | ( | int | time | ) |
Waits a specified time.
| time | The time to wait in milliseconds. |