C# Класс 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 ) ) { // ... } // ... }

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Открытые методы

Метод	Описание
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.

Защищенные методы

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

Описание методов

ClearSensor() публичный Метод

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.
Результат	bool

Connect() публичный Метод

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.
Результат	bool

Disconnect() публичный Метод

Disconnnect from Lego RCX brick.

public Disconnect ( ) : void
Результат	void

GetBatteryPower() публичный Метод

Get battery power of RCX brick.

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

GetSensorValue() публичный Метод

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).
Результат	bool

GetVersion() публичный Метод

Get version information of RCX brick.

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

IsAlive() публичный Метод

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

public IsAlive ( ) : bool
Результат	bool

PlaySound() публичный Метод

Play one of supported sounds.

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

PlayTone() публичный Метод

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.
Результат	bool

PowerOff() публичный Метод

Turn off the RCX brick.

public PowerOff ( ) : bool
Результат	bool

RCXBrick() публичный Метод

Initializes a new instance of the RCXBrick class.

public RCXBrick ( ) : System
Результат	System

SendCommand() защищенный Метод

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.
Результат	bool

SetMotorDirection() публичный Метод

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.
Результат	bool

SetMotorOn() публичный Метод

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.
Результат	bool

SetMotorPower() публичный Метод

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].
Результат	bool

SetSensorMode() публичный Метод

Set sensor's mode.

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

SetSensorType() публичный Метод

Set sensor's type.

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

SetTime() публичный Метод

Set current time for the RCX brick.

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

SetTransmitterRange() публичный Метод

Set IR transmitter's range.

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