~nxti2cdev/nxti2cdevice/trunk

I2C device API's

NXTServo:

~getBatteryVoltage()

     -Retrieves the battery voltage 

~storeInitial() 

     -Store the initial speed and position properties of a servo

~reset() 

     -Reset servo properties to factory default

~halfMacro() 

     -Re-initializes the macro enviornment

~resumeMacro() 

     -Resumes macro when it was paused in the same enviornment 

~gotoEEPROM() 

     -Re-initializes the macro enviornment

~editMacro() 

     -Edit macro

~pauseMacro() 

     -Pauses the macro, and saves for subsequent resumption

~setSpeed(uint8_t number, uint8_t speed) 

     -Set speed of servo 

	*number:Servo_1, 2, ..., 8 

	*speed [0, inf] or Servo_Speed_Full

~setPosition(uint8_t number, uint8_t position)

     -Set position of servo 

	*number:Servo_1, 2, ..., 8 

	*position [500, 2500] or Servo_Position_Default

~runServo(uint8_t number, uint8_t position, uint8_t speed)

     -Run a Servo to a certain position at a certain speed

	*number:Servo_1, 2, ..., 8 

	*speed [500, 2500] or Servo_Position_Default

	*position [500, 2500] or Servo_Position_Default

PFMate:

~issueCommand(char command)

~sendSignal()

~controlMotor(uint8_t channel, uint8_t contol, uint8_t operation, uint8_t speed)

   -Control the PF Motors

	*channel : PF_Channel_1, 2, 3, or 4

	*control : PF_Contol_Both, A, or B

	*operation : PF_Operation_Forward, Reverse, Float, or Brake

	*speed :  [1, 7] or PF_Speed_Full, Medium, or Slow

~setChannel(uint8_t channel)

~setControl(uint8_t contol)

~setOperationA(uint8_t operation)

~setOperationB(uint8_t operation)

~setSpeedA(uint8_t speed)

~setSpeedB(uint8_t speed)

NXTHID:

~transmitData()

     -Transmit data to hsot computer

~asciiMode()

     -Setup device for ascii data mode

~directMode()

     -Setup device for direct data mode   

~setModifier(uint8_t mod)

    -Setup the key modifier

	*HID_None, L_Ctrl, L_Shift ,  L_Alt, L_GUI, R_Ctrl, R_Shift, R_Alt, R_GUI,

~sendKeyboardData(uint8_t data)

    -Send specific key data

NXTMMX:

~getBatteryVoltage()

~issueCommand(char command)

~setEncoderTarget(uint8_t which_motor, long target)

~getEncoderTarget(uint8_t which_motor)

setSpeed(uint8_t which_motor, int speed)

~getSpeed(uint8_t which_motor)

~getTimeToRun(uint8_t which_motor, int seconds)

~getTimeToRun(uint8_t which_motor)

~setCommandRegB(uint8_t which_motor, uint8_t value)

~getCommandRegB(uint8_t which_motor)

~setCommandRegA(uint8_t which_motor, uint8_t value)

~getCommandRegA(uint8_t which_motor)

~getEncoderPosition(uint8_t which_motor)

~getMotorStatusByte(uint8_t which_motor)

~getMotorTasksRunningByte(uint8_t which_motor)

~setEncoderPID(uint16_t Kp, uint16_t Ki, uint16_t Kd)

~setSpeedPID(uint16_t Kp, uint16_t Ki, uint16_t Kd)

~setPassCount(uint8_t pass_count)

~setTolerance(uint8_t tolerance)

~reset()

~startMotorsInSync()

~resetEncoder(uint8_t which_motor)

~setSpeedTimeAndControl(uint8_t which_motors, int speed, uint8_t duration, uint8_t control)

setEncoderSpeedTimeAndControl(uint8_t  which_motors, long encoder, int speed, uint8_t duration, uint8_t control)

~isTimeDone(uint8_t which_motors)

~waitUntilTimeDone(uint8_t  which_motors)

~isTachoDone(uint8_t  which_motors)

~waitUntilTachoDone(uint8_t  which_motors)

~runUnlimited(uint8_t which_motors, uint8_t direction, int speed)

~runSeconds(uint8_t  which_motors, uint8_t direction, int speed, uint8_t duration, uint8_t wait_for_completion, uint8_t next_action)

~runTachometer(uint8_t which_motors, uint8_t direction, int speed, long tachometer, uint8_t relative, uint8_t wait_for_completion, uint8_t next_action)

~runDegrees(uint8_t which_motors, uint8_t direction,int speed, long degrees, uint8_t wait_for_completion, uint8_t  next_action)

~void runRotations(uint8_t  which_motors, uint8_t direction, int speed, long rotations, uint8_t wait_for_completion, uint8_t next_action)~stop(uint8_t which_motors, uint8_t next_action)

ACCLNx:

~issueCommand(char command)

~aquireXpointCalibration()

~aquireXpointCalibrationEnd()

~aquireYpointCalibration()

~aquireYpointCalibrationEnd()

~aquireZpointCalibration()

~aquireZpointCalibrationEnd()

~resetFactory()

~setApdaOn()

~setApdaOff()

~getXTilt()

~getYTilt()

~getZTilt()

~getXAccl()

~getYAccl()

~getZAccl()

~getSens()

DISTNx:

~issueCommand(char command)

~setModuleGP2D12()

~setModuleGP2D120()

~setModuleGP2Y0A21YK()

~setModuleGP2Y0A02YK()

~setModuleCustom()

~energized()

~deenergized()

~setApdaOn()

~setApdaOff()

~getDist()

~getVolt()

~getType()

PSPNx:	

~issueCommand(char command)

~energized()

~deenergized()

~setDigitalMode()

~setAnalogMode()

~setApdaOn()

~setApdaOff()

~getXLJoy()

~getYLJoy()

~getXRJoy()

~getYRJoy()

~getButtons(int *buttons1, int *buttons2);

LineLeader:

~issueCommand(char command)

~calibrateWhite()

~calibrateBlack()

~sleep()

~wakeUp()

~invertLineColorToWhite()

~resetColorInversion()

~takeSnapshot()

~configureUS()

~configureEurope()

~configureUniversal()

~getSetPoint()

~setSetPoint(uint8_t spoint)

~getKp()

~setKp(uint8_t kp)

~getKi()

~setKi(uint8_t ki);

~getKd()

~setKd(uint8_t kd)

~getKpFactor()

~setKpFactor(uint8_t kpfact)

~getKiFactor()

~setKiFactor(uint8_t kifact)

~getKdFactor()

~setKdFactor(uint8_t kdfact)

~getSteering()

~getAverage()

~getResult()

~getRawCalibrated()

~getRawUncalibrated()

~getWhiteLimit()

~getBlackLimit()

~getWhiteCalibration()

~getBlackCalibration()

NXTPowerMeter:

~issueCommand(char command)

~resetCounters()

~readPresentCurrent()

~readPresentVoltage()

~readCapacityUsed()

~readElapsedTime()

RTC:

~getSeconds()

~getMinutes()

~getHours()

~getDayWeek()

~getDayMonth()

~getMonth()

~getYear()

NXTCam:

~issueCommand(char command)

~sortSize()

~selectObjectMode()

~writeImageRegisters()

~disableTracking()

~enableTracking()

~getColorMap()

~illuminationOn()

~readImageRegisters()

~selectLineMode()

~adpaOn()

~adpaOff()

~pingCam()

~resetCam()

~sendColorMap()

~illuminationOff()

~sortColor()

~sortNone()

~camFirmware()

~getNumberObjects()

~getBlobs(int *nblobs, uint8_t *color, uint8_t *left, uint8_t *top, uint8_t *right, uint8_t *bottom)