Merge pull request 13eakers#1 from kenrikv/master

Added ColorSensor

Author: Dexter Industries

README.md

@@ -6,12 +6,14 @@ Java implementation of Raspberry PI/Brick Pi interface
 
 You can clone a complete Netbeans Project including the required libraries.  It uses pi4j.  The jar in the project has been modified to support he 500000 baud rate.
 
-Most sensors are missing.  Except for I2C, color_full and ultrasonic other sensors should work as a RawSensor.
+Some sensors are still missing, the Light, Ultrasonic and Touch are there and (minimally) tested.  The Color Sensors and RCX Light should all follow the Light Sensor pattern, but I don't have any to test. Color Full and I2C sensors are a little different - again, I don't have those sensors.
 
-Motor is implemented but not yet tested.
+Motors are implemented.  You can get the instantaneous speed of the motor, as calculated from the encoder values, by means of the "getCurrentSpeed" method of your Motor class.  There are problem problems with this, such as if the encoder over/underflows, when changing direction, etc. - create an issue with a good description (and preferably a use-case)  The speed also seems to be double the actual speed.  No real idea why that is, unless the ticks per rev are 1440 and not 720.	
 
-The interfaces/APIs are subject to change at this point.  
+Take a look at the BrickPiTests.java for usage examples.  
+Conceptually, it's pretty simple.  You create instances of one of the Sensor classes and/or Motors.  Associate them with the correct port number on the BrickPi instance.  You need to run "setupSensors", after that, it should all just work. 
 
+The interfaces/APIs may change, but should be pretty stable.
 You can integrate Netbeans so that it will automatically copy the code to the PI following the instructions here:
 
 https://blogs.oracle.com/speakjava/entry/integrating_netbeans_for_raspberry_pi

pom.xml

@@ -0,0 +1,30 @@
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <groupId>com.ergotech</groupId>
+  <artifactId>brickpi</artifactId>
+  <version>1.0-SNAPSHOT</version>
+  <packaging>jar</packaging>
+
+  <name>BrickPi</name>
+  <url>http://maven.apache.org</url>
+
+  <properties>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+  </properties>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>3.8.1</version>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>com.pi4j</groupId>
+      <artifactId>pi4j-core</artifactId>
+      <version>0.0.5</version>
+    </dependency>
+  </dependencies>
+</project>

src/com/ergotech/brickpi/BrickPi.java

@@ -312,15 +312,16 @@ public void setSensor(Sensor sensor, int port) {
      * return null. If a sensor has not previously been attached to the port, a
      * RawSensor will be created, attached and returned.
      *
+     * @param <T> the sensor associated with the port
      * @param port the port associated with the requested sensor.
      * @return a valid Sensor object. If no sensor is current associated with
      * the port a RawSensor will be returned.
      */
-    public Sensor getSensor(int port) {
+    public <T extends Sensor> T getSensor(int port) {
         if (sensorType[port] == null) {
             sensorType[port] = new RawSensor();
         }
-        return sensorType[port];
+        return (T)sensorType[port];
     }
 
     /**
@@ -499,7 +500,7 @@ public void updateValues() throws IOException {
                         Sensor currentSensor = sensorType[counter * 2 + sensorCount];
                         if (currentSensor != null) {
                             // request that each sensor encode itself into the packet.
-                            currentSensor.decodeValues(values, startingBitLocation);
+                           startingBitLocation= currentSensor.decodeValues(values, startingBitLocation);
                         } else {
                             startingBitLocation += 10;  // the default seems to be 10 bits....
                         }

src/com/ergotech/brickpi/BrickPiTests.java

@@ -15,7 +15,10 @@
 package com.ergotech.brickpi;
 
 import com.ergotech.brickpi.motion.Motor;
+import com.ergotech.brickpi.sensors.RawSensor;
 import com.ergotech.brickpi.sensors.TouchSensor;
+import com.ergotech.brickpi.sensors.UltraSonicSensor;
+import com.ergotech.brickpi.sensors.UltraSonicSensorSS;
 import java.io.IOException;
 import java.util.logging.Level;
 import java.util.logging.Logger;
@@ -34,26 +37,38 @@ public static void main(String[] args) {
             Logger.getLogger(BrickPiTests.class.getName()).log(Level.SEVERE, null, ex);
         }
         // add touch sensors to all the ports.
-        brickPi.setSensor(new TouchSensor(), 0);
-        brickPi.setSensor(new TouchSensor(), 1);
-        brickPi.setSensor(new TouchSensor(), 2);
+        brickPi.setSensor(new RawSensor(), 0);
+        brickPi.setSensor(new UltraSonicSensor(),1);
+        brickPi.setSensor(new RawSensor(), 2);
         brickPi.setSensor(new TouchSensor(), 3);
         try {
             // configure the sensors
             brickPi.setupSensors();
         } catch (IOException ex) {
             Logger.getLogger(BrickPiTests.class.getName()).log(Level.SEVERE, null, ex);
         }
-        System.out.println("Update Values");
+
+        for (int counter = 0; counter < 100; counter++) {
+            System.out.println("Update Values");
+            try {
+                // get the updated values.
+                Thread.sleep(200); // wait for the values to be read....
+            } catch (InterruptedException ex) {
+                Logger.getLogger(BrickPiTests.class.getName()).log(Level.SEVERE, null, ex);
+            }
+            // here're the values
+            System.out.println("Sensors: " + brickPi.getSensor(0).getValue() + " " + brickPi.getSensor(1).getValue() + " " + brickPi.getSensor(2).getValue() + " " + brickPi.getSensor(3).getValue());
+        }
+
+        brickPi.setSensor(new UltraSonicSensorSS(), 1);
         try {
-            // get the updated values.
-            Thread.sleep(200); // wait for the values to be read....
-        } catch (InterruptedException ex) {
+            // configure the sensors
+            brickPi.setupSensors();
+        } catch (IOException ex) {
             Logger.getLogger(BrickPiTests.class.getName()).log(Level.SEVERE, null, ex);
         }
-        // here're the values
-        System.out.println("Sensors: " + brickPi.getSensor(0).getValue() + " " + brickPi.getSensor(1).getValue() + " " + brickPi.getSensor(2).getValue() + " " + brickPi.getSensor(3).getValue());
 
+        System.exit(0);
         Motor motor = new Motor();
         motor.setCommandedOutput(0);
         motor.setEnabled(true);
@@ -62,7 +77,7 @@ public static void main(String[] args) {
         motor.setCommandedOutput(25);
         for (int counter = 0; counter < 50; counter++) {
             try {
-                System.out.println("Forward Motors: Speed " + brickPi.getMotor(0).getCurrentSpeed() + " encoder " + brickPi.getMotor(0).getCurrentEncoderValue()  + " Time " + System.currentTimeMillis() %10000);
+                System.out.println("Forward Motors: Speed " + brickPi.getMotor(0).getCurrentSpeed() + " encoder " + brickPi.getMotor(0).getCurrentEncoderValue() + " Time " + System.currentTimeMillis() % 10000);
                 Thread.sleep(200);
             } catch (InterruptedException ex) {
                 // ignore
@@ -72,7 +87,7 @@ public static void main(String[] args) {
         for (int counter = 0; counter < 50; counter++) {
             try {
                 Thread.sleep(200);
-                System.out.println("Reverse Motors: Speed " + brickPi.getMotor(0).getCurrentSpeed() + " encoder " + brickPi.getMotor(0).getCurrentEncoderValue() );
+                System.out.println("Reverse Motors: Speed " + brickPi.getMotor(0).getCurrentSpeed() + " encoder " + brickPi.getMotor(0).getCurrentEncoderValue());
             } catch (InterruptedException ex) {
                 // ignore
             }

src/com/ergotech/brickpi/sensors/ColorSensor.java

@@ -0,0 +1,29 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package com.ergotech.brickpi.sensors;
+
+import com.ergotech.brickpi.BrickPi;
+
+/**
+ *
+ * @author kenrik
+ */
+public class ColorSensor extends Sensor {
+
+    public ColorSensor() {
+    }
+
+    @Override
+    public byte getSensorType() {
+        return TYPE_SENSOR_COLOR_FULL;
+    }
+
+    @Override
+    public int decodeValues(byte[] message, int startLocation) {
+        value = BrickPi.decodeInt(3, message, startLocation);
+        return value;
+    }
+}

src/com/ergotech/brickpi/sensors/LightSensorOff.java

@@ -0,0 +1,36 @@
+/*
+ *  Copyright ErgoTech Systems, Inc 2014
+ *
+ * This file is made available online through a Creative Commons Attribution-ShareAlike 3.0  license.
+ * (http://creativecommons.org/licenses/by-sa/3.0/)
+ *
+ *  This is a library of functions for the RPi to communicate with the BrickPi.
+ */
+package com.ergotech.brickpi.sensors;
+
+import com.ergotech.brickpi.BrickPi;
+
+/**
+ * Representation of a Touch Sensor.
+ */
+public class LightSensorOff extends Sensor {
+
+    /**
+     * Returns an instance of this sensor.
+     */
+    public LightSensorOff() {
+
+    }
+
+    @Override
+    public int decodeValues(byte[] message, int startLocation) {
+        value = BrickPi.decodeInt(10, message, startLocation);
+        return startLocation + 10;
+    }
+
+    @Override
+    public byte getSensorType() {
+        return TYPE_SENSOR_LIGHT_OFF;
+    }
+
+}

src/com/ergotech/brickpi/sensors/LightSensorOn.java

@@ -0,0 +1,36 @@
+/*
+ *  Copyright ErgoTech Systems, Inc 2014
+ *
+ * This file is made available online through a Creative Commons Attribution-ShareAlike 3.0  license.
+ * (http://creativecommons.org/licenses/by-sa/3.0/)
+ *
+ *  This is a library of functions for the RPi to communicate with the BrickPi.
+ */
+package com.ergotech.brickpi.sensors;
+
+import com.ergotech.brickpi.BrickPi;
+
+/**
+ * Representation of a Touch Sensor.
+ */
+public class LightSensorOn extends Sensor {
+
+    /**
+     * Returns an instance of this sensor.
+     */
+    public LightSensorOn() {
+
+    }
+
+    @Override
+    public int decodeValues(byte[] message, int startLocation) {
+        value = BrickPi.decodeInt(10, message, startLocation);
+        return startLocation + 10;
+    }
+
+    @Override
+    public byte getSensorType() {
+        return TYPE_SENSOR_LIGHT_ON;
+    }
+
+}

src/com/ergotech/brickpi/sensors/RawSensor.java

@@ -9,7 +9,6 @@
 package com.ergotech.brickpi.sensors;
 
 import com.ergotech.brickpi.BrickPi;
-import java.util.BitSet;
 
 /**
  * Representation of a Touch Sensor.

src/com/ergotech/brickpi/sensors/TouchSensor.java

@@ -9,7 +9,6 @@
 package com.ergotech.brickpi.sensors;
 
 import com.ergotech.brickpi.BrickPi;
-import java.util.BitSet;
 
 /**
  * Representation of a Touch Sensor.

src/com/ergotech/brickpi/sensors/UltraSonicSensor.java

@@ -0,0 +1,36 @@
+/*
+ *  Copyright ErgoTech Systems, Inc 2014
+ *
+ * This file is made available online through a Creative Commons Attribution-ShareAlike 3.0  license.
+ * (http://creativecommons.org/licenses/by-sa/3.0/)
+ *
+ *  This is a library of functions for the RPi to communicate with the BrickPi.
+ */
+package com.ergotech.brickpi.sensors;
+
+import com.ergotech.brickpi.BrickPi;
+
+/**
+ * Representation of a Touch Sensor.
+ */
+public class UltraSonicSensor extends Sensor {
+
+    /**
+     * Returns an instance of this sensor.
+     */
+    public UltraSonicSensor() {
+
+    }
+
+    @Override
+    public int decodeValues(byte[] message, int startLocation) {
+        value = BrickPi.decodeInt(8, message, startLocation);
+        return startLocation + 8;
+    }
+
+    @Override
+    public byte getSensorType() {
+        return TYPE_SENSOR_ULTRASONIC_CONT;
+    }
+
+}