Hi Have a look at http://www.javaspecialists.eu/archive/Issue189.html
And maybe email the author. Regards On May 18, 7:43 pm, damienb2 <[email protected]> wrote: > Hello everybody! > > i'm developping an android application to remote control a lego > mindstorm NXT. > The NXT let the mobile control motors, and sensors (ultrasonic, light, > temperature,...) > The android mobile is linked to the nxt by bluetooth. > > I success in controling the motors, but now i've got one problem : > accessing the sensors. > I tried to get informations from the ultrasonic sensor since a long > time, but no success! > > how i do it : > > 1) i send first the information "my ultrasonic sensor is linked to the > port 1" according to instructions of the bluetooth Lego NXT developper > kit: > > setUp > > void initUltrasonicSensor(int sensorPort){ > > byte[] message = new byte[5]; > > message[0]= LCPMessage.DIRECT_COMMAND_NOREPLY; // DirectCommand, byte > constant : 0x00 > message[1]= LCPMessage.SET_INPUT_MODE; // > SetInputMode, byte > constant : 0x05 > message[2] = (byte) sensorPort; // > Input Port, 0 1 2 or 3 > message[3]= typePort ; > // Type Port, ultrasonic = 0x0B > message[4]= (byte) 0x00; > // Sensor mode > > sendMessage(message); > > } > > /** > * Sends a message on the opened OutputStream > * @param message, the message as a byte array > */ > void sendMessage(byte[] message) throws IOException { > if (nxtOutputStream == null) > throw new IOException(); > > // send message length > int messageLength = message.length; > nxtOutputStream.write(messageLength); > nxtOutputStream.write(messageLength >> 8); > nxtOutputStream.write(message, 0, message.length); > > } > > 2) then, i send the informtion "get distance from the ultrasonic > sensor" : > > public void getInputValues(int sensor) { > > byte[] request = new byte[3]; > > request[0] = LCPMessage.DIRECT_COMMAND_REPLY; // DirectCommand, byte > constant : 0x00 > request[1] = LCPMessage.GET_INPUT_VALUES; // > getInputValues, byte > constant : 0x07 > request[2] = (byte) sensor; > // input port, 0 1 2 or 3 > > sendMessage(message); > > } > > 3) when i reveived the reply information from the NXT, i get it : > > 05-18 10:33:53.652: INFO/(8885): Values received from > UltrasonicSensor : [ 2 7 0 0 1 0 B 0 0 0 0 0 0 0 0 0 ] > > the expected response, according to instructions of the bluetooth Lego > NXT developper kit: > byte 0: 0x02 > byte 1: 0x07 > byte 2: status byte > byte 3: input port (range: 0-3) > byte 4: valid? (boolean TRUE if new data value should be seen as valid > data) > byte 5: calibrated? (boolean TRUE if calibration file found and used > for "Calibrated Value" field below) > byte 6: sensor type (enumerated) > byte 7: sensor mode (enumerated) > byte 8-9: Row A/D value(UWORD; device dependent) > byte 10-11: Normalized A/D value(UWORD; device dependent; Range: > 0-1023) > byte 12-13: Scaled value (SWORD; mode dependent) > byte 14-15: Calibrated value (SWORD; value scaled according to > calibration. CURENTLY UNUSED.) > > So i'm supposed to get the information about the distance from the 8-9 > byte, but i get 0! > > Could anyone help me ? > thanks for all! > (sorry for my english, i'm french!) -- You received this message because you are subscribed to the Google Groups "Android Developers" group. To post to this group, send email to [email protected] To unsubscribe from this group, send email to [email protected] For more options, visit this group at http://groups.google.com/group/android-developers?hl=en
