C# Class AForge.Robotics.Lego.RCXBrick

Manipulation of Lego Mindstorms RCX device.

The class allows to manipulate with Lego Mindstorms RCX device, setting its motors' state, getting information about sensors' values and performing some other manipulations.

The class supports both types of IR towers - USB and serial (see RCXBrick.IRTowerType).

The class uses GhostAPI to communicate with Lego RCX device, so its libraries (GhostAPI.dll, PbkComm32.dll and PbkUsbPort.dll) should be placed into applications folder.

Sample usage:

 // create an instance of RCX brick RCXBrick rcx = new RCXBrick( ); // connect to the device if ( rcx.Connect( RCXBrick.IRTowerType.USB ) ) { // set forward direction of motor A rcx.SetMotorDirection( RCXBrick.Motor.A, true ); // set power of motor rcx.SetMotorPower( RCXBrick.Motor.A, 1 ); // turm motor on rcx.SetMotorOn( RCXBrick.Motor.A, true ); // ... // turn off motors A, B and C rcx.SetMotorOn( RCXBrick.Motor.ABC, false ); // get first sensor's value short value; if ( rcx.GetSensorValue( RCXBrick.Sensor.First, out value ) ) { // ... } // ... }

Datei anzeigen Open project: holisticware-admin/MonoVersal.AForgeNET

Public Methods

Method	Description
ClearSensor ( Sensor sensor ) : bool	Clear the counter associated with the specified sensor by setting it to a value of zero.
Connect ( IRTowerType towerType ) : bool	Connect to Lego RCX brick. If connection to RCX brick was established before the call, existing connection will be reused. If it is required to force reconnection, then Disconnect method should be called before.
Disconnect ( ) : void	Disconnnect from Lego RCX brick.
GetBatteryPower ( int &power ) : bool	Get battery power of RCX brick.
GetSensorValue ( Sensor sensor, short &value ) : bool	Get sensor's value.
GetVersion ( string &romVersion, string &firmwareVersion ) : bool	Get version information of RCX brick.
IsAlive ( ) : bool	Check if the RCX brick is alive and responds to messages.
PlaySound ( SoundType type ) : bool	Play one of supported sounds.
PlayTone ( short frequency, byte duration ) : bool	Play tone of specified frequency.
PowerOff ( ) : bool	Turn off the RCX brick.
RCXBrick ( ) : System	Initializes a new instance of the RCXBrick class.
SetMotorDirection ( Motor motors, bool isForward ) : bool	Set direction of specified motors.
SetMotorOn ( Motor motors, bool on ) : bool	Turn on/off specified motors.
SetMotorPower ( Motor motors, byte power ) : bool	Set power of specified motors.
SetSensorMode ( Sensor sensor, SensorMode mode ) : bool	Set sensor's mode.
SetSensorType ( Sensor sensor, SensorType type ) : bool	Set sensor's type.
SetTime ( byte hours, byte minutes ) : bool	Set current time for the RCX brick.
SetTransmitterRange ( bool isLongRange ) : bool	Set IR transmitter's range.

Protected Methods

Method	Description
SendCommand ( byte command, byte reply, int expectedReplyLen ) : bool	Send command to Lego RCX brick and read reply.

Method Details

ClearSensor() public method

Clear the counter associated with the specified sensor by setting it to a value of zero.

public ClearSensor ( Sensor sensor ) : bool
sensor	Sensor	Sensor to clear value of.
return	bool

Connect() public method

Connect to Lego RCX brick.

If connection to RCX brick was established before the call, existing connection will be reused. If it is required to force reconnection, then Disconnect method should be called before.

public Connect ( IRTowerType towerType ) : bool
towerType	IRTowerType	Type of IR tower to use for communication with RCX brick.
return	bool

Disconnect() public method

Disconnnect from Lego RCX brick.

public Disconnect ( ) : void
return	void

GetBatteryPower() public method

Get battery power of RCX brick.

public GetBatteryPower ( int &power ) : bool
power	int	RCX brick's battery power in millivolts.
return	bool

GetSensorValue() public method

Get sensor's value.

public GetSensorValue ( Sensor sensor, short &value ) : bool
sensor	Sensor	Sensor to get value of.
value	short	Retrieved sensor's value (units depend on current /// sensor's type and mode).
return	bool

GetVersion() public method

Get version information of RCX brick.

public GetVersion ( string &romVersion, string &firmwareVersion ) : bool
romVersion	string	ROM version number.
firmwareVersion	string	Firmware version number.
return	bool

IsAlive() public method

Check if the RCX brick is alive and responds to messages.

public IsAlive ( ) : bool
return	bool

PlaySound() public method

Play one of supported sounds.

public PlaySound ( SoundType type ) : bool
type	SoundType	Sound type to play.
return	bool

PlayTone() public method

Play tone of specified frequency.

public PlayTone ( short frequency, byte duration ) : bool
frequency	short	Tone frequency in Hz.
duration	byte	Tone duration in 1/100ths of a second.
return	bool

PowerOff() public method

Turn off the RCX brick.

public PowerOff ( ) : bool
return	bool

RCXBrick() public method

Initializes a new instance of the RCXBrick class.

public RCXBrick ( ) : System
return	System

SendCommand() protected method

Send command to Lego RCX brick and read reply.

Communication can not be performed, because connection with /// RCX brick was not established yet. Reply buffer size is smaller than the reply data size. Reply does not correspond to command (first byte of reply /// should be complement (bitwise NOT) to the first byte of command orred with 0x08).

protected SendCommand ( byte command, byte reply, int expectedReplyLen ) : bool
command	byte	Command to send.
reply	byte	Buffer to receive reply into.
expectedReplyLen	int	Expected reply length.
return	bool

SetMotorDirection() public method

Set direction of specified motors.

public SetMotorDirection ( Motor motors, bool isForward ) : bool
motors	Motor	Motors to set direction of.
isForward	bool	True to set forward direction, false to set backward.
return	bool

SetMotorOn() public method

Turn on/off specified motors.

public SetMotorOn ( Motor motors, bool on ) : bool
motors	Motor	Motors to turn on/off.
on	bool	True to turn motors on, otherwise false.
return	bool

SetMotorPower() public method

Set power of specified motors.

public SetMotorPower ( Motor motors, byte power ) : bool
motors	Motor	Motors to set power of.
power	byte	Power level to set, [0..7].
return	bool

SetSensorMode() public method

Set sensor's mode.

public SetSensorMode ( Sensor sensor, SensorMode mode ) : bool
sensor	Sensor	Sensor to set mode of.
mode	SensorMode	Sensor mode to set.
return	bool

SetSensorType() public method

Set sensor's type.

public SetSensorType ( Sensor sensor, SensorType type ) : bool
sensor	Sensor	Sensor to set type of.
type	SensorType	Sensor type to set.
return	bool

SetTime() public method

Set current time for the RCX brick.

public SetTime ( byte hours, byte minutes ) : bool
hours	byte	Hours, [0..23].
minutes	byte	Minutes, [0..59].
return	bool

SetTransmitterRange() public method

Set IR transmitter's range.

public SetTransmitterRange ( bool isLongRange ) : bool
isLongRange	bool	True if long range should be set, otherwise false.
return	bool