NXT_GetOutputState
Requests and retrieves an output motor state reading
Contents
Syntax
data = NXT_GetOutputState(port)
data = NXT_GetOutputState(port, handle)
Description
data = NXT_GetOutputState(port) requests and retrieves an output motor state reading of the given motor port. The value port can be addressed by the symbolic constants MOTOR_A, MOTOR_B and MOTOR_C analog to the labeling on the NXT Brick. The return value data is a struct variable. It contains several motor settings and information.
data = NXT_GetOutputState(port, handle) uses the given Bluetooth connection handle. This should be a serial handle on a PC system and a file handle on a Linux system.
If no Bluetooth handle is specified the default one (COM_GetDefaultNXT) is used.
Output:
data.Port % current port number (0..3)
data.Power % current motor power
data.Mode % motor mode byte
data.ModeIsMOTORON % flag: "motor is on"
data.ModeIsBRAKE % flag: "motor uses the advanced brake mode (PVM)"
data.ModeIsREGULATED % flag: "motor uses a regulation"
data.RegModeByte % motor regulation byte
data.RegModeName % name of regulation mode
data.TurnRatio % turn ratio value
data.RunStateByte % motor run state byte
data.RunStateName % name of run state
data.TachoLimit % tacho / angle limit
data.TachoCount % current absolute tacho count
data.BlockTachoCount % current relative tacho count
data.RotationCount % current second relative tacho count
For more details see the official LEGO Mindstorms communication protocol.
Examples
data = NXT_GetOutputState(MOTOR_B);
handle = COM_OpenNXT('bluetooth.ini');
data = NXT_GetOutputState(MOTOR_A, handle);
See also
ReadFromNXT, NXT_SetOutputState, DirectMotorCommand, MOTOR_A, MOTOR_B, MOTOR_C,
Signature
- Author: Linus Atorf (see AUTHORS)
- Date: 2007/10/15
- Copyright: 2007-2010, RWTH Aachen University