+
RWTH - Mindstorms NXT Toolbox Version 2.00 beta Guidelines
+
+ This document describes the main changes in version 2.00 beta of this toolbox and gives a short introduction on how to use
+ them!
+
+
+
Contents
+
+
The communication layer
+
To establish a connection to an NXT device, the following functions are provided:
+
+
+ - COM_OpenNXT
+ - COM_OpenNXTEx
+ - COM_CloseNXT
+ - COM_SetDefaultNXT
+ - COM_GetDefaultNXT
+
+
+
They replace the old BT_ functions from toolbox version 1.00. Also BT_CreatePacket, BT_SendPacket, and BT_CollectPacket have been replaced by COM_CreatePacket, COM_SendPacket, and COM_CollectPacket. These changes are only to be consistent with the naming scheme, the usage of these functions has not changed. The prefix
+ COM_ stands for "communication functions".
+
+
The most important change in toolbox version 2.00 is the support for USB connections. On Windows systems, the Mindstorms NXT
+ device driver (called "Fantom") has to be installed. On Linux systems, the free open source library libusb is used. Additionally,
+ the devices' access rights have to be modified so that the NXT bricks appear in /dev/.
+
+
Opening connections and retrieving handles
+
The following way is recommended to open a connection:
h = COM_OpenNXT('bluetooth.ini', 'check');
+COM_SetDefaultNXT(h);
+This replaces what looked like this in toolbox version 1.00:
h = BT_OpenHandle('bluetooth.ini', 'check');
+BT_SetDefaultHandle(h);
+The big difference however is that COM_OpenNXT will also look on the USB bus for an NXT. If it succeeds, the USB connection will be used, otherwise a Bluetooth connection
+ is created. This makes the above example work with both Bluetooth and USB connections without having to change the code! Just
+ plug or unplug the USB cable to your NXT device. If USB is present, it will be used, if not, Bluetooth comes into action.
+
+
The handle struct
+
In version 1.00 our NXT handle was just a variable (serial object on Windows, file handle on Linux). Now, we have a fairly
+ large struct, containing lots of useful (and necessary) information. The users do NOT have to use this handle in any way but
+ to pass it to functions, just as they could in earlier versions. All other functions and commands just work as they did before!
+
+
The handle contains some function-handles (to store dynamic information using the principle of function closures). However
+ they are not to be used by normal users! It will later be explained to the advanced user how to retrieve connection statistics
+ (how many bytes and packets were sent or received).
+
+
For now, the message is: We have got a huge handle struct, look at it if you want, but do not modify it. It does not matter
+ what is in there, everything just works, so no need to bother!
+
+
Default handles
+
To put it simply: BT_SetDefaultHandle and BT_GetDefaultHandle have just been replaced by COM_SetDefaultNXT and COM_GetDefaultNXT. So adapt your code, the syntax is exactly the same.
+
+
Closing handles and cleaning up
+
The two functions BT_CloseHandle and BT_CloseAllHandles have been combined to the one function COM_CloseNXT.
+
+
To clean up after using your NXT-handle, just call
COM_CloseNXT(h);
+clear h
+
Instead of BT_CloseAllHandles we now have:
+
COM_CloseNXT all
+
The old way of closing just a specific serial port has been mapped to this syntax:
COM_CloseNXT('all', 'bluetooth.ini');
+New debug functions
+
The way the function textOut behaves has not changed. But it was quite uncomfortable to use global DisableScreenOut in order to enable or disable debug messages. So we now have helper functions:
+
DebugMode on
+
+DebugMode off
+
DebugMode(state) is a method that can set the debug-state, but when called without any arguments, DebugMode() will return the current setting. So if we want to remember and restore the previous state, we can do so by:
+
OldDebugState = DebugMode();
+DebugMode on
+
+DebugMode(OldDebugState);
+
To check if debug messages are enabled, use:
if isdebug
+
+end
+
This is essentially the same as
if strcmpi(DebugMode(), 'on')
+
+end
+
but since MATLAB is not very fast with string comparisons, I recommend to use isdebug where time is critical. Also it is easier.
+
+
Please note the similarity to MATLAB's built-in functions hold on, hold off and ishold.
+
+
New "snapshot" mode for ultrasonic sensor
+
The function OpenUltrasonic has been updated with the additional optional parameter 'snapshot'. When set, the functions USMakeSnapshot and USGetSnapshotResults enable you to send out a single "ping" signal, and let the sensor record up to 8 following echos. All 8 recordings can then
+ be retrieved in one step. See function help for further information. An example might look like this:
+
port = SENSOR_4;
+OpenUltrasonic(port, 'snapshot');
+
+USMakeSnapshot(port);
+
+pause(0.1);
+
+echos = USGetSnapshotResults(port);
+CloseSensor(port);
+
New I/O Map Module access
+
New system functions NXT_ReadIOMap and NXT_WriteIOMap have been implemented, enabling low-level access to the NXT's internal I/O map module registers. For easier usage, some high
+ level functions have been implemented. They all start with the prefix MAP_, see list of functions and their documentation for further information.
+
+
Note: These new functions do not (yet?) work under Windows when using USB connections. They do however work with Bluetooth
+ under Windows. On Linux systems, both USB and Bluetooth connections are supported for I/O map module access.
+
+
Conclusion
+
To sum up all necessary changes for your programs:
+
+
+ - Replace BT_OpenHandle with COM_OpenNXT, syntax stays the same. If you want, you can also use COM_OpenNXTEx, but then a more complex syntax comes into place.
+
+ - Replace BT_SetDefaultHandle with COM_SetDefaultNXT and BT_GetDefaultHandle with COM_GetDefaultNXT.
+
+ - Replace BT_CloseHandle(h) with COM_CloseNXT(h).
+
+ - Replace BT_CloseAllHandles() with COM_CloseNXT('all').
+
+ - Replace BT_CloseAllHandles('bluetooth.ini') with COM_CloseNXT('all', 'bluetooth.ini').
+
+ - Instead of modifying the global variable DisableScreenOut for debug-messages by textOut, the two new easy functions DebugMode() and isdebug are available.
+
+
+
+
Contact
+
Please feel free to contact me by mail if you have comments:
+
linus (dot) atorf (at) rwth-aachen (dot) de
+
or via www.mindstorms.rwth-aachen.de
+
Version 1.01 of this document, Linus Atorf, July 18th 2008
+
+
-
-
-|
-BT_CloseAllHandles | Closes and deletes all existing serial or file handles, which are open |
-| BT_CloseHandle | Closes and deletes an existing serial or file handle |
-| BT_CollectPacket | Reads data from serial/Bluetooth port and retrieves exactly one packet |
-| BT_CreatePacket | Generates a valid Bluetooth packet ready for transmission (i.e. calculates length) |
-| BT_GetDefaultHandle | Returns the global default Bluetooth handle if it was previously set |
-| BT_MakeConfigFile | Creates a Bluetooth configuration file which is needed to open a Bluetooth connection. |
-| BT_OpenHandle | Opens a Bluetooth connection using settings from the given configuration file |
-| BT_SendPacket | Sends a Bluetooth packet (byte-array) via a Bluetooth channel (serial port) |
-| BT_SetDefaultHandle | Sets a global default Bluetooth handle that will be used by the NXT-Functions if no other handle is specified. |
-
-
-|
-CloseSensor | Closes a specified sensor port (e.g. turns off the active light mode of the NXT light sensor) |
-| checkStatusByte | Interpretes the status byte of a return package and creates an error message |
-
-
-|
-GetLight | Reads the current value of the NXT light sensor |
-| GetMemoryCount | Gets the internal NXT memory counter (manual mapping replica) |
-| GetMotor | Reads the current motor set by SetMotor(). Raises an error if no motor was set |
-| GetMotorSettings | Returns the current motor data / settings (e.g. position, speed, etc.) from the specified motor |
-| GetSound | Reads the current value of the NXT sound sensor |
-| GetSwitch | Reads the current value of the NXT switch / touch sensor |
-| GetUltrasonic | Reads the current value of the NXT ultrasonic sensor |
-
-
-|
-MOTOR_A | Symbolic constant MOTOR_A (returns 0) |
-| MOTOR_B | Symbolic constant MOTOR_B (returns 1) |
-| MOTOR_C | Symbolic constant MOTOR_C (returns 2) |
-| MotorRotateAbs | Rotates a motor to an absolute angle |
-
-
-|
-NXT_GetBatteryLevel | Returns the current battery level in milli volts |
-| NXT_GetInputValues | Processes a complete sensor reading, i.e. requests input values and collects the answer. |
-| NXT_GetOutputState | Requests and retrieves an output motor state reading |
-| NXT_LSGetStatus | Gets the number of available bytes from low speed (digital) sensor (e.g. ultrasonic) |
-| NXT_LSRead | Reads data from a low speed (digital) sensor |
-| NXT_LSWrite | Writes the given data to a low speed (digital) sensor |
-| NXT_PlayTone | Plays a tone with the given frequency and duration |
-| NXT_ResetInputScaledValue | Resets the sensors ScaledVal back to 0, depends on currently configured mode (see NXT_SetInputMode) |
-| NXT_ResetMotorPosition | Resets NXT internal counter for specified motor, relative or absolute counter |
-| NXT_SendKeepAlive | Sends a KeepAlive packet. Optional: requests sleep time limit. |
-| NXT_SetBrickName | Sets a new name for the NXT Brick (connected to the specified handle) |
-| NXT_SetInputMode | Sets mode, configures and initializes sensor ready to be read out |
-| NXT_SetOutputState | Sends previously specified settings to current active motor. |
-| NXT_StartProgram | Starts the given program on the NXT Brick |
-| NXT_StopProgram | Stops a specific program on the NXT Brick |
-
-
-|
-OpenLight | Sets the parameter mode of the NXT light sensor |
-| OpenSound | Sets the parameter mode of the NXT sound sensor |
-| OpenSwitch | Sets the parameter mode of the NXT switch / touch sensor |
-| OpenUltrasonic | Initializes and sets the mode of the NXT ultrasonic sensor |
-
-
-|
-readFromIniFile | Reads parameters from a configuration file (usually *.ini) |
-| ResetMotorAngle | Resets the relative angle counter for the given motor |
-
-
-|
-SENSOR_1 | Symbolic constant SENSOR_1 (returns 0) |
-| SENSOR_2 | Symbolic constant SENSOR_2 (returns 1) |
-| SENSOR_3 | Symbolic constant SENSOR_3 (returns 2) |
-| SENSOR_4 | Symbolic constant SENSOR_4 (returns 3) |
-| SendMotorSettings | Sends previously specified settings to current active motor. |
-| SetAngleLimit | Sets the angle limit (in degrees) of the current motor port |
-| SetMemoryCount | Sets the internal NXT memory counter (manual mapping replica) |
-| SetMotor | Sets the current motor to use for motor setting commands |
-| SetPower | Sets the power of the current active motor |
-| SetRampMode | Sets the runstate of the current active motor |
-| SetTurnRatio | Sets the turn ratio of the current active motor |
-| SpeedRegulation | Enables / disables the speed regulation mode of the current active motor |
-| StopMotor | Stops / brakes specified motor. (Synchronisation will be lost after this) |
-| SwitchLamp | Switches the LEGO lamp on or off (has to be connected to a motor port) |
-| SyncToMotor | Enables synchronization regulation for current active and specified motor |
-
-
-|
-textOut | Wrapper for fprintf() which can optionally write screen output to a logfile |
-| tictic | Similar to MATLAB's tic(), but extended to save "more states" |
-| toctoc | Similar to MATLAB's toc(), but extended to save "more states" |
-
-
-|
-WaitForMotor | Pauses execution until specific motor is not running anymore. |
+| checkStatusByte | Interpretes the status byte of a return package and creates an error message |
+| CloseSensor | Closes a specified sensor port (e.g. turns off the active light mode of the NXT light sensor) |
+| COM_CloseNXT | Closes and deletes a specific NXT handle, or clears all existing handles |
+| COM_CollectPacket | Reads data from a USB or serial/Bluetooth port and retrieves exactly one packet |
+| COM_CreatePacket | Generates a valid Bluetooth packet ready for transmission (i.e. calculates length) |
+| COM_GetDefaultNXT | Returns the global default NXT handle if it was previously set |
+| COM_MakeBTConfigFile | Creates a Bluetooth configuration file which is needed to open a Bluetooth connection. |
+| COM_OpenNXT | Opens a USB or Bluetooth connection to an NXT device and returns a handle for future use |
+| COM_OpenNXTEx | Opens a Bluetooth or USB connection to an NXT device and returns a handle for future use |
+| COM_SendPacket | Sends a communication protocol packet (byte-array) via a USB or Bluetooth channel (serial port) |
+| COM_SetDefaultNXT | Sets a global default NXT handle that will be used by other functions if no handle is specified. |
+| DebugMode | Gets or sets the debug state (i.e. if textOut will print messages to the command window) |
+| GetLight | Reads the current value of the NXT light sensor |
+| GetMemoryCount | Gets the internal NXT memory counter (manual mapping replica) |
+| GetMotor | Reads the current motor set by SetMotor(). Raises an error if no motor was set |
+| GetMotorSettings | Returns the current motor data / settings (e.g. position, speed, etc.) from the specified motor |
+| GetSound | Reads the current value of the NXT sound sensor |
+| GetSwitch | Reads the current value of the NXT switch / touch sensor |
+| GetUltrasonic | Reads the current value of the NXT ultrasonic sensor |
+| MAP_GetCommModule | Reads the IO map of the communication module |
+| MAP_GetInputModule | Reads the IO map of the input module |
+| MAP_GetOutputModule | Reads the IO map of the output module |
+| MAP_GetSoundModule | Reads the IO map of the sound module |
+| MAP_GetUIModule | Reads the IO map of the user interface module |
+| MAP_SetOutputModule | Writes the IO map to the output module |
+| MOTOR_A | Symbolic constant MOTOR_A (returns 0) |
+| MOTOR_B | Symbolic constant MOTOR_B (returns 1) |
+| MOTOR_C | Symbolic constant MOTOR_C (returns 2) |
+| MotorRotateAbs | Rotates a motor to an absolute angle |
+| NXT_GetBatteryLevel | Returns the current battery level in milli volts |
+| NXT_GetFirmwareVersion | Returns the protocol and firmware version of the NXT |
+| NXT_GetInputValues | Processes a complete sensor reading, i.e. requests input values and collects the answer. |
+| NXT_GetOutputState | Requests and retrieves an output motor state reading |
+| NXT_LSGetStatus | Gets the number of available bytes from low speed (digital) sensor (e.g. ultrasonic) |
+| NXT_LSRead | Reads data from a low speed (digital) sensor |
+| NXT_LSWrite | Writes the given data to a low speed (digital) sensor |
+| NXT_PlaySoundFile | Plays the given sound file on the NXT Brick |
+| NXT_PlayTone | Plays a tone with the given frequency and duration |
+| NXT_ReadIOMap | Reads the IO map of the given module ID |
+| NXT_ResetInputScaledValue | Resets the sensors ScaledVal back to 0, depends on currently configured mode (see NXT_SetInputMode) |
+| NXT_ResetMotorPosition | Resets NXT internal counter for specified motor, relative or absolute counter |
+| NXT_SendKeepAlive | Sends a KeepAlive packet. Optional: requests sleep time limit. |
+| NXT_SetBrickName | Sets a new name for the NXT Brick (connected to the specified handle) |
+| NXT_SetInputMode | Sets mode, configures and initializes sensor ready to be read out |
+| NXT_SetOutputState | Sends previously specified settings to current active motor. |
+| NXT_StartProgram | Starts the given program on the NXT Brick |
+| NXT_StopProgram | Stops a specific program on the NXT Brick |
+| NXT_StopSoundPlayback | Stops the current sound playback |
+| NXT_WriteIOMap | Writes the IO map to the given module ID |
+| OpenLight | Sets the parameter mode of the NXT light sensor |
+| OpenSound | Sets the parameter mode of the NXT sound sensor |
+| OpenSwitch | Sets the parameter mode of the NXT switch / touch sensor |
+| OpenUltrasonic | Initializes and sets the mode of the NXT ultrasonic sensor |
+| readFromIniFile | Reads parameters from a configuration file (usually *.ini) |
+| ResetMotorAngle | Resets the relative angle counter for the given motor |
+| SendMotorSettings | Sends previously specified settings to current active motor. |
+| SENSOR_1 | Symbolic constant SENSOR_1 (returns 0) |
+| SENSOR_2 | Symbolic constant SENSOR_2 (returns 1) |
+| SENSOR_3 | Symbolic constant SENSOR_3 (returns 2) |
+| SENSOR_4 | Symbolic constant SENSOR_4 (returns 3) |
+| SetAngleLimit | Sets the angle limit (in degrees) of the current motor port |
+| SetMemoryCount | Sets the internal NXT memory counter (manual mapping replica) |
+| SetMotor | Sets the current motor to use for motor setting commands |
+| SetPower | Sets the power of the current active motor |
+| SetRampMode | Sets the runstate of the current active motor |
+| SetTurnRatio | Sets the turn ratio of the current active motor |
+| SpeedRegulation | Enables / disables the speed regulation mode of the current active motor |
+| StopMotor | Stops / brakes specified motor. (Synchronisation will be lost after this) |
+| SwitchLamp | Switches the LEGO lamp on or off (has to be connected to a motor port) |
+| SyncToMotor | Enables synchronization regulation for current active and specified motor |
+| textOut | Wrapper for fprintf() which can optionally write screen output to a logfile |
+| tictic | Similar to MATLAB's tic(), but extended to save "more states" |
+| toctoc | Similar to MATLAB's toc(), but extended to save "more states" |
+| USGetSnapshotResults | Retrieves up to eight echos (distances) stored inside the US sensor |
+| USMakeSnapshot | Causes the ultrasonic sensor to send one snapshot ("ping") and record the echos |
+| WaitForMotor | Pauses execution until specific motor is not running anymore. |
Index: /branches/atorf/RWTHMindstormsNXT/doc/functions/categories.html
===================================================================
--- /branches/atorf/RWTHMindstormsNXT/doc/functions/categories.html (revision 3)
+++ /branches/atorf/RWTHMindstormsNXT/doc/functions/categories.html (revision 254)
@@ -1,5 +1,5 @@
-
-
-Bluetooth Connection |
-| BT_MakeConfigFile | Creates a Bluetooth configuration file which is needed to open a Bluetooth connection. |
-| BT_CloseAllHandles | Closes and deletes all existing serial or file handles, which are open |
-| BT_CloseHandle | Closes and deletes an existing serial or file handle |
-| BT_OpenHandle | Opens a Bluetooth connection using settings from the given configuration file |
-| BT_SetDefaultHandle | Sets a global default Bluetooth handle that will be used by the NXT-Functions if no other handle is specified. |
-| BT_GetDefaultHandle | Returns the global default Bluetooth handle if it was previously set |
-| BT_CreatePacket | Generates a valid Bluetooth packet ready for transmission (i.e. calculates length) |
-| BT_SendPacket | Sends a Bluetooth packet (byte-array) via a Bluetooth channel (serial port) |
-| BT_CollectPacket | Reads data from serial/Bluetooth port and retrieves exactly one packet |
+NXT Communication |
+| COM_CloseNXT | Closes and deletes a specific NXT handle, or clears all existing handles |
+| COM_CollectPacket | Reads data from a USB or serial/Bluetooth port and retrieves exactly one packet |
+| COM_CreatePacket | Generates a valid Bluetooth packet ready for transmission (i.e. calculates length) |
+| COM_GetDefaultNXT | Returns the global default NXT handle if it was previously set |
+| COM_MakeBTConfigFile | Creates a Bluetooth configuration file which is needed to open a Bluetooth connection. |
+| COM_OpenNXT | Opens a USB or Bluetooth connection to an NXT device and returns a handle for future use |
+| COM_OpenNXTEx | Opens a Bluetooth or USB connection to an NXT device and returns a handle for future use |
+| COM_SendPacket | Sends a communication protocol packet (byte-array) via a USB or Bluetooth channel (serial port) |
+| COM_SetDefaultNXT | Sets a global default NXT handle that will be used by other functions if no handle is specified. |
|
NXT Sensors |
-| OpenLight | Sets the parameter mode of the NXT light sensor |
-| OpenSound | Sets the parameter mode of the NXT sound sensor |
-| OpenSwitch | Sets the parameter mode of the NXT switch / touch sensor |
-| OpenUltrasonic | Initializes and sets the mode of the NXT ultrasonic sensor |
-| CloseSensor | Closes a specified sensor port (e.g. turns off the active light mode of the NXT light sensor) |
-| GetLight | Reads the current value of the NXT light sensor |
-| GetSound | Reads the current value of the NXT sound sensor |
-| GetSwitch | Reads the current value of the NXT switch / touch sensor |
-| GetUltrasonic | Reads the current value of the NXT ultrasonic sensor |
-
|
-| SENSOR_1 | Symbolic constant SENSOR_1 (returns 0) |
-| SENSOR_2 | Symbolic constant SENSOR_2 (returns 1) |
-| SENSOR_3 | Symbolic constant SENSOR_3 (returns 2) |
-| SENSOR_4 | Symbolic constant SENSOR_4 (returns 3) |
+| CloseSensor | Closes a specified sensor port (e.g. turns off the active light mode of the NXT light sensor) |
+| GetLight | Reads the current value of the NXT light sensor |
+| GetSound | Reads the current value of the NXT sound sensor |
+| GetSwitch | Reads the current value of the NXT switch / touch sensor |
+| GetUltrasonic | Reads the current value of the NXT ultrasonic sensor |
+| OpenLight | Sets the parameter mode of the NXT light sensor |
+| OpenSound | Sets the parameter mode of the NXT sound sensor |
+| OpenSwitch | Sets the parameter mode of the NXT switch / touch sensor |
+| OpenUltrasonic | Initializes and sets the mode of the NXT ultrasonic sensor |
+| SENSOR_1 | Symbolic constant SENSOR_1 (returns 0) |
+| SENSOR_2 | Symbolic constant SENSOR_2 (returns 1) |
+| SENSOR_3 | Symbolic constant SENSOR_3 (returns 2) |
+| SENSOR_4 | Symbolic constant SENSOR_4 (returns 3) |
+| USGetSnapshotResults | Retrieves up to eight echos (distances) stored inside the US sensor |
+| USMakeSnapshot | Causes the ultrasonic sensor to send one snapshot ("ping") and record the echos |
|
-NXT Motor |
-| GetMotor | Reads the current motor set by SetMotor(). Raises an error if no motor was set |
-| GetMotorSettings | Returns the current motor data / settings (e.g. position, speed, etc.) from the specified motor |
-| SetAngleLimit | Sets the angle limit (in degrees) of the current motor port |
-| SetMotor | Sets the current motor to use for motor setting commands |
-| SetPower | Sets the power of the current active motor |
-| SetRampMode | Sets the runstate of the current active motor |
-| SetTurnRatio | Sets the turn ratio of the current active motor |
-| SpeedRegulation | Enables / disables the speed regulation mode of the current active motor |
-| SyncToMotor | Enables synchronization regulation for current active and specified motor |
-| SendMotorSettings | Sends previously specified settings to current active motor. |
-| WaitForMotor | Pauses execution until specific motor is not running anymore. |
-| StopMotor | Stops / brakes specified motor. (Synchronisation will be lost after this) |
-| ResetMotorAngle | Resets the relative angle counter for the given motor |
-
|
-| SwitchLamp | Switches the LEGO lamp on or off (has to be connected to a motor port) |
-
|
-| MOTOR_A | Symbolic constant MOTOR_A (returns 0) |
-| MOTOR_B | Symbolic constant MOTOR_B (returns 1) |
-| MOTOR_C | Symbolic constant MOTOR_C (returns 2) |
-
|
-| MotorRotateAbs | Rotates a motor to an absolute angle |
-| GetMemoryCount | Gets the internal NXT memory counter (manual mapping replica) |
-| SetMemoryCount | Sets the internal NXT memory counter (manual mapping replica) |
+NXT Motors |
+| GetMemoryCount | Gets the internal NXT memory counter (manual mapping replica) |
+| GetMotor | Reads the current motor set by SetMotor(). Raises an error if no motor was set |
+| GetMotorSettings | Returns the current motor data / settings (e.g. position, speed, etc.) from the specified motor |
+| MOTOR_A | Symbolic constant MOTOR_A (returns 0) |
+| MOTOR_B | Symbolic constant MOTOR_B (returns 1) |
+| MOTOR_C | Symbolic constant MOTOR_C (returns 2) |
+| MotorRotateAbs | Rotates a motor to an absolute angle |
+| ResetMotorAngle | Resets the relative angle counter for the given motor |
+| SendMotorSettings | Sends previously specified settings to current active motor. |
+| SetAngleLimit | Sets the angle limit (in degrees) of the current motor port |
+| SetMemoryCount | Sets the internal NXT memory counter (manual mapping replica) |
+| SetMotor | Sets the current motor to use for motor setting commands |
+| SetPower | Sets the power of the current active motor |
+| SetRampMode | Sets the runstate of the current active motor |
+| SetTurnRatio | Sets the turn ratio of the current active motor |
+| SpeedRegulation | Enables / disables the speed regulation mode of the current active motor |
+| StopMotor | Stops / brakes specified motor. (Synchronisation will be lost after this) |
+| SwitchLamp | Switches the LEGO lamp on or off (has to be connected to a motor port) |
+| SyncToMotor | Enables synchronization regulation for current active and specified motor |
+| WaitForMotor | Pauses execution until specific motor is not running anymore. |
|
- Direct NXT Functions |
-| NXT_GetBatteryLevel | Returns the current battery level in milli volts |
-| NXT_GetInputValues | Processes a complete sensor reading, i.e. requests input values and collects the answer. |
-| NXT_GetOutputState | Requests and retrieves an output motor state reading |
-| NXT_LSGetStatus | Gets the number of available bytes from low speed (digital) sensor (e.g. ultrasonic) |
-| NXT_LSRead | Reads data from a low speed (digital) sensor |
-| NXT_LSWrite | Writes the given data to a low speed (digital) sensor |
-| NXT_PlayTone | Plays a tone with the given frequency and duration |
-| NXT_ResetInputScaledValue | Resets the sensors ScaledVal back to 0, depends on currently configured mode (see NXT_SetInputMode) |
-| NXT_ResetMotorPosition | Resets NXT internal counter for specified motor, relative or absolute counter |
-| NXT_SendKeepAlive | Sends a KeepAlive packet. Optional: requests sleep time limit. |
-| NXT_SetBrickName | Sets a new name for the NXT Brick (connected to the specified handle) |
-| NXT_SetInputMode | Sets mode, configures and initializes sensor ready to be read out |
-| NXT_SetOutputState | Sends previously specified settings to current active motor. |
-| NXT_StartProgram | Starts the given program on the NXT Brick |
-| NXT_StopProgram | Stops a specific program on the NXT Brick |
+Direct NXT Functions |
+| NXT_GetBatteryLevel | Returns the current battery level in milli volts |
+| NXT_GetFirmwareVersion | Returns the protocol and firmware version of the NXT |
+| NXT_GetInputValues | Processes a complete sensor reading, i.e. requests input values and collects the answer. |
+| NXT_GetOutputState | Requests and retrieves an output motor state reading |
+| NXT_LSGetStatus | Gets the number of available bytes from low speed (digital) sensor (e.g. ultrasonic) |
+| NXT_LSRead | Reads data from a low speed (digital) sensor |
+| NXT_LSWrite | Writes the given data to a low speed (digital) sensor |
+| NXT_PlaySoundFile | Plays the given sound file on the NXT Brick |
+| NXT_PlayTone | Plays a tone with the given frequency and duration |
+| NXT_ReadIOMap | Reads the IO map of the given module ID |
+| NXT_ResetInputScaledValue | Resets the sensors ScaledVal back to 0, depends on currently configured mode (see NXT_SetInputMode) |
+| NXT_ResetMotorPosition | Resets NXT internal counter for specified motor, relative or absolute counter |
+| NXT_SendKeepAlive | Sends a KeepAlive packet. Optional: requests sleep time limit. |
+| NXT_SetBrickName | Sets a new name for the NXT Brick (connected to the specified handle) |
+| NXT_SetInputMode | Sets mode, configures and initializes sensor ready to be read out |
+| NXT_SetOutputState | Sends previously specified settings to current active motor. |
+| NXT_StartProgram | Starts the given program on the NXT Brick |
+| NXT_StopProgram | Stops a specific program on the NXT Brick |
+| NXT_StopSoundPlayback | Stops the current sound playback |
+| NXT_WriteIOMap | Writes the IO map to the given module ID |
|
- Help Functions |
-| checkStatusByte | Interpretes the status byte of a return package and creates an error message |
-| readFromIniFile | Reads parameters from a configuration file (usually *.ini) |
-| textOut | Wrapper for fprintf() which can optionally write screen output to a logfile |
-| tictic | Similar to MATLAB's tic(), but extended to save "more states" |
-| toctoc | Similar to MATLAB's toc(), but extended to save "more states" |
-
+
+
COM_GetDefaultNXT
+
+ Returns the global default NXT handle if it was previously set
+
+
Contents
+
+
Syntax
+
h = COM_GetDefaultNXT()
+
Description
+
h = COM_GetDefaultNXT() returns the global default NXT handle h if it was previously set. The default global NXT handle is used by all NXT-Functions per default if no other handle is specified.
+ To set this global handle the function COM_SetDefaultNXT is used.
+
+
Example
handle = COM_OpenNXT('bluetooth.ini', 'check');
+ COM_SetDefaultNXT(handle);
+ MyNXT = COM_GetDefaultNXT();
+
+See also
+
COM_SetDefaultNXT, COM_OpenNXT, COM_OpenNXTEx
+
Signature
+
+
+ - Author: Linus Atorf (see AUTHORS)
+
+ - Date: 2008/07/07
+
+ - Copyright: 2007-2008, RWTH Aachen University
+
+
+
+
+