task main() {
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
HTSMUXscanPorts(HTSMUX);
nxtDisplayCenteredTextLine(0, "Lego");
nxtDisplayCenteredBigTextLine(1, "TOUCH");
nxtDisplayCenteredTextLine(3, "SMUX Test");
nxtDisplayCenteredTextLine(5, "Connect SMUX to");
nxtDisplayCenteredTextLine(6, "S1 and sensor to");
nxtDisplayCenteredTextLine(7, "SMUX Port 1");
wait1Msec(2000);
eraseDisplay();
while (true) {
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
// Check if the sensor is pressed or not.
if (TSreadState(msensor_S1_1))
nxtDisplayCenteredBigTextLine(3, "ACTIVE");
else
nxtDisplayCenteredBigTextLine(3, "INACTIVE");
wait1Msec(50);
}
}
task main() {
int _chVal = 0;
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "Proto");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect SMUX to");
nxtDisplayCenteredTextLine(6, "S1 and HTPB to");
nxtDisplayCenteredTextLine(7, "SMUX Port 1");
wait1Msec(2000);
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
HTSMUXscanPorts(HTSMUX);
PlaySound(soundBeepBeep);
while(bSoundActive);
eraseDisplay();
while(true) {
eraseDisplay();
// get the value for ADC channel 0, we want a 10 bit answer
_chVal = HTPBreadADC(msensor_S1_1, 0, 10);
nxtDisplayTextLine(4, "A0: %d", _chVal);
wait1Msec(10);
}
}
task main () {
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "GYRO");
nxtDisplayCenteredTextLine(3, "SMUX Test");
nxtDisplayCenteredTextLine(5, "Connect SMUX to");
nxtDisplayCenteredTextLine(6, "S1 and sensor to");
nxtDisplayCenteredTextLine(7, "SMUX Port 1");
wait1Msec(2000);
nxtDisplayCenteredTextLine(5, "Press enter");
nxtDisplayCenteredTextLine(6, "to set relative");
nxtDisplayCenteredTextLine(7, "heading");
wait1Msec(2000);
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
HTSMUXscanPorts(HTSMUX);
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
while(true) {
if (time1[T1] > 1000) {
eraseDisplay();
nxtDisplayTextLine(1, "Resetting");
nxtDisplayTextLine(1, "heading");
wait1Msec(500);
// Start the calibration and display the offset
nxtDisplayTextLine(2, "Offset: %4d", HTGYROstartCal(msensor_S1_1));
PlaySound(soundBlip);
while(bSoundActive);
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
eraseDisplay();
nxtDisplayTextLine(1, "Reading");
// Read the current calibration offset and display it
nxtDisplayTextLine(2, "Offset: %4d", HTGYROreadCal(msensor_S1_1));
nxtDisplayClearTextLine(4);
// Read the current rotational speed and display it
nxtDisplayTextLine(4, "Gyro: %4d", HTGYROreadRot(msensor_S1_1));
nxtDisplayTextLine(6, "Press enter");
nxtDisplayTextLine(7, "to recalibrate");
wait1Msec(100);
}
}
}
task main () {
nNxtButtonTask = -2;
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "Angle");
nxtDisplayCenteredTextLine(3, "SMUX Test");
nxtDisplayCenteredTextLine(5, "Connect SMUX to");
nxtDisplayCenteredTextLine(6, "S1 and ANG to");
nxtDisplayCenteredTextLine(7, "SMUX Port 1");
wait1Msec(2000);
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
HTSMUXscanPorts(HTSMUX);
eraseDisplay();
nxtDisplayCenteredTextLine(0, "HiTechnic Angle");
nxtDisplayTextLine(1, "-------------------");
nxtDisplayTextLine(5, "-------------------");
while (true) {
// The accumulated angle or the zero point cannot be reset when connected
// to a SMUX
// Read the current angle, accumulated angle and RPM and display them
nxtDisplayTextLine(2, "Ang: %7d deg", HTANGreadAngle(msensor_S1_1));
nxtDisplayTextLine(3, "Tot: %7d deg", HTANGreadAccumulatedAngle(msensor_S1_1));
nxtDisplayTextLine(4, "RPM: %7d", HTANGreadRPM(msensor_S1_1));
wait1Msec(50);
}
}
// main task
task main ()
{
int _dirDC = 0;
int _dirAC = 0;
int dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
int acS1, acS2, acS3, acS4, acS5 = 0;
// show the user what to do
displayInstructions();
while(true)
{
PlaySound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
nNumbCyles = 0;
++nInits;
while (true)
{
if ((nNumbCyles & 0x04) == 0)
nxtDisplayTextLine(0, "Initializing...");
else
nxtDisplayTextLine(0, "");
nxtDisplayCenteredBigTextLine(1, "SMUX");
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
if (HTSMUXscanPorts(HTSMUX))
break;
++nNumbCyles;
PlaySound(soundShortBlip);
nxtDisplayTextLine(4, "Inits: %d / %d", nInits, nNumbCyles);
nxtDisplayCenteredTextLine(6, "Connect SMUX");
nxtDisplayCenteredTextLine(7, "to Port S1");
wait1Msec(100);
}
eraseDisplay();
for (int i = 0; i < 8; ++i)
sTextLines[i] = "";
// display the current DSP mode
// When connected to a SMUX, the IR Seeker V2 can only be
// used in 1200Hz mode.
nxtDisplayTextLine(0, " DC 1200");
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
while (true)
{
// Read the current non modulated signal direction
_dirDC = HTIRS2readDCDir(msensor_S1_1);
if (_dirDC < 0)
break; // I2C read error occurred
// read the current modulated signal direction
_dirAC = HTIRS2readACDir(msensor_S1_1);
if (_dirAC < 0)
break; // I2C read error occurred
// Read the individual signal strengths of the internal sensors
// Do this for both unmodulated (DC) and modulated signals (AC)
if (!HTIRS2readAllDCStrength(msensor_S1_1, dcS1, dcS2, dcS3, dcS4, dcS5))
break; // I2C read error occurred
if (!HTIRS2readAllACStrength(msensor_S1_1, acS1, acS2, acS3, acS4, acS5 ))
break; // I2C read error occurred
displayText(1, "D", _dirDC, _dirAC);
displayText(2, "0", dcS1, acS1);
displayText(3, "1", dcS2, acS2);
displayText(4, "2", dcS3, acS3);
displayText(5, "3", dcS4, acS4);
displayText(6, "4", dcS5, acS5);
if (HTSMUXreadPowerStatus(HTSMUX))
nxtDisplayTextLine(7, "Batt: bad");
else
nxtDisplayTextLine(7, "Batt: good");
}
}
}
task main () {
int _target = 0;
eraseDisplay();
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "Compass");
nxtDisplayCenteredTextLine(3, "SMUX Test");
nxtDisplayCenteredTextLine(5, "Connect SMUX to");
nxtDisplayCenteredTextLine(6, "S1 and sensor to");
nxtDisplayCenteredTextLine(7, "SMUX Port 1");
wait1Msec(2000);
nxtDisplayCenteredTextLine(5, "Press enter");
nxtDisplayCenteredTextLine(6, "to set target");
nxtDisplayCenteredTextLine(7, " ");
wait1Msec(2000);
eraseDisplay();
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
HTSMUXscanPorts(HTSMUX);
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
while(true) {
// Reset the target no more than once a second
// This also helps with debouncing the [enter] button.
if (time1[T1] > 1000) {
eraseDisplay();
nxtDisplayTextLine(1, "Changing");
nxtDisplayTextLine(2, "target");
wait1Msec(500);
// Set the current heading as the value for the offset to be used as the
// new zero-point for the relative heading returned by
// HTMCreadRelativeHeading()
_target = HTMCsetTarget(msensor_S1_1);
PlaySound(soundBlip);
while(bSoundActive);
time1[T1] = 0;
}
// Get the true heading and relative heading from the sensor and
// display them on the screen.
while(nNxtButtonPressed != kEnterButton) {
eraseDisplay();
nxtDisplayTextLine(1, "Reading");
nxtDisplayTextLine(2, "Target: %4d", _target);
nxtDisplayTextLine(4, "Abs: %4d", HTMCreadHeading(msensor_S1_1));
nxtDisplayTextLine(5, "Rel: %4d", HTMCreadRelativeHeading(msensor_S1_1));
nxtDisplayTextLine(6, "Press enter");
nxtDisplayTextLine(7, "to set target");
wait1Msec(100);
}
}
}
