Subject:
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Re: Programming RCX using Delphi
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 27 Nov 2001 22:21:15 GMT
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Viewed:
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845 times
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In lugnet.robotics, Stef Mientki writes:
> If John Hansen would answer your question, you would even get to know how to
> program the USB tower.
> (As far as I know all his sources are available, but it's quiet a lot !!)
I wrote what I call a FakeSpirit class in Delphi. It is what I use in
BricxCC to communicate with the programmable bricks. The files needed to
use FakeSpirit are in
http://members.aol.com/johnbinder/bricxcc_src.zip
The required files are contained in the "bricktools" sub-directory in this
zip file. See FakeSpiritTest.dpr for a very simple example of using the
FakeSpirit class.
Here is the current public interface:
TFakeSpirit = class
public
constructor Create(aType : TRCXType = 0; aPort : TPortNum = 1);
destructor Destroy; override;
function Open : boolean;
function Close : boolean;
// PBrick sound commands
function PlayTone(aFreq, aTime : integer) : boolean;
function PlaySystemSound(aSnd : integer) : boolean;
// PBrick output control commands
function MotorsOn(aMotorList : Byte) : boolean; // On
function MotorsOff(aMotorList : Byte) : boolean; // Off
function MotorsFloat(aMotorList : Byte) : boolean; // Float
function SetFwd(aMotorList : Byte) : boolean;
function SetRwd(aMotorList : Byte) : boolean;
function SwitchDirection(aMotorList : Byte) : boolean; // AlterDir
function SetMotorPower(aMotorList : Byte; aSrc, aNum : integer) : boolean;
// SetPower
// PBrick input control commands
function SetSensorType(aNum, aType : integer) : boolean;
function SetSensorMode(aNum, aMode, aSlope : integer) : boolean;
function ClearSensorValue(aNum : integer) : boolean;
// general
function TowerExists : boolean; // TowerAlive / TowerAndCableConnected
function Ping : boolean;
function PrepareBrick : boolean;
function UnlockFirmware : boolean;
function UnlockBrick : string; // UnlockPBrick
function DownloadMemoryMap : TStrings; // MemMap
function PowerDownTime(aTime : integer) : boolean; // PBPowerDownTime
function BatteryLevel : integer; // PBBattery
function BrickAlive : boolean; // PBAliveOrNot
function Shutdown : boolean; // PBTurnOff
function Sleep(aVal : integer) : boolean;
function Version(var rom : Cardinal; var ram : Cardinal) : boolean;
function TransmitPower(aLevel : TTransmitLevel) : boolean; // PBTxPower
function Poll(aSrc, aNum : integer) : integer;
function StartTask(aTask : integer) : boolean;
function StopTask(aTask : integer) : boolean;
function StopAllTasks : boolean;
function DeleteTask(aTask : integer) : boolean;
function DeleteAllTasks : boolean;
function DeleteSub(aSub : integer) : boolean;
function DeleteAllSubs : boolean;
function ClearTimer(aNum : integer) : boolean;
function ClearMemory : boolean;
function GetOutputStatus(aOut : integer) : integer;
function GetVariableValue(aVar: integer): integer;
function GetInputValue(aIn: integer): integer;
function GetMessageValue(aNum : integer) : integer;
function GetTimerValue(aNum : integer) : integer;
function GetCounterValue(aNum : integer) : integer;
// PBrick arithmetic/logical commands
function SetVar(aVar, aSrc, aNum : integer) : boolean;
function SumVar(aVar, aSrc, aNum : integer) : boolean;
function SubVar(aVar, aSrc, aNum : integer) : boolean;
function DivVar(aVar, aSrc, aNum : integer) : boolean;
function MulVar(aVar, aSrc, aNum : integer) : boolean;
function SgnVar(aVar, aSrc, aNum : integer) : boolean;
function AbsVar(aVar, aSrc, aNum : integer) : boolean;
function AndVar(aVar, aSrc, aNum : integer) : boolean;
function OrVar(aVar, aSrc, aNum : integer) : boolean;
// communication to brick
function SendRawCommand(aCmd : string; bRetry : boolean) : string;
function SendRemote(aEvent : string; aRepeat : integer = 1) : boolean;
overload;
function SendRemote(aEvent : Word; aRepeat : integer = 1) : boolean; overload;
function SendMessage(aMsg : integer) : boolean;
// RCX only
function SelectProgram(aProg : integer) : boolean; // SelectPrgm
function SelectDisplay(aSrc, aNumber : integer) : boolean;
function SetWatch(aHrs, aMins : integer) : boolean; overload;
function SetWatch(aTime : string) : boolean; overload;
function DownloadFirmware(aFile : string; bFast : boolean) : boolean;
function SetDatalog(aSize : integer) : boolean;
function DatalogNext(aSrc, aNum : integer) : boolean;
function UploadDatalog(aFrom, aSize : integer) : TStrings; overload;
function UploadDatalog(bVerbose : boolean) : TStrings; overload;
// CM only methods
function Drive(aLeft, aRight : integer) : boolean;
function ClearTachoCounter(aMotorList : Byte) : boolean;
function OnWait(aMotorList : Byte; aNum : integer; aTime : Byte) : boolean;
function OnWaitDifferent(aMotorList : Byte;
aNum0, aNum1, aNum2 : integer; aTime : Byte) : boolean;
// Scout only methods
function Scout(aVal : integer) : boolean; overload;
function Scout(bPower : boolean = true) : boolean; overload;
function CalibrateLightSensor : boolean;
function SendVLL(aSrc, aNum : integer) : boolean;
function SetFeedback(src, val : integer) : boolean;
function SetLightSensorUpperThreshold(src : TLSSource; val :
TThresholdValue) : boolean;
function SetLightSensorLowerThreshold(src : TLSSource; val :
TThresholdValue) : boolean;
function SetLightSensorHysteresis(src : TLSSource; val : TThresholdValue)
: boolean;
function SetLightSensorBlinkTime(src : TLSSource; val : TBlinkTimeValue) :
boolean;
function SetTimerLimit(num : TTimerNumber; src : TTCSource; val : integer)
: boolean;
function SetCounterLimit(num : TCounterNumber; src : TTCSource; val :
integer) : boolean;
function ScoutLight(bOn : boolean) : boolean;
function ScoutRules(motion : TScoutMotion; touch : TScoutTouch;
light : TScoutLight; time : TScoutScale; fx : TScoutEffects) : boolean;
function ScoutSound(bSoundEnable : boolean; bSoundOff : boolean; aNum :
TSoundSetNumber) : boolean;
// RCX2 & Scout methods
function PollMemory(address, size : integer) : TStrings;
function SetGlobalOutput(motors : TMotorsNum; action : TGlobalOutAction) :
boolean;
function SetGlobalDirection(motors : TMotorsNum; action :
TGlobalDirAction) : boolean;
function SetMaxPower(motors : TMotorsNum; src, num : integer) : boolean;
function IncCounter(num : TCounterNumber) : boolean;
function DecCounter(num : TCounterNumber) : boolean;
function ClearCounter(num : TCounterNumber) : boolean;
// RCX2 only methods
function ClearSound : boolean;
function MuteSound : boolean;
function UnmuteSound : boolean;
function SendUARTData(start, size : integer) : boolean;
function SetEvent(enum, snum, etype : integer) : boolean;
function CalibrateEvent(enum, upper, lower, hysteresis : integer) : boolean;
function ClearAllEvents : boolean;
function ViewSourceValue(prec, src, value : integer) : boolean;
// properties
property FastMode : boolean read fFastMode write SetFastMode;
property RCXType : TRCXType read FRCXType write SetRCXType;
property PortNum : TPortNum read FPortNum write SetPortNum;
property PortName : string read GetPortName;
property NicePortName : string read GetNicePortName;
property RxTimeout : Word read fRxTimeout write fRxTimeout;
property VerboseMode : boolean read fVerbose write SetVerbose;
property AutoClose : boolean read fAutoClose write fAutoClose;
property DataLog : TStrings read fDataLog;
property MemoryMap : TStrings read fMemMap;
property OnDownloadStart : TNotifyEvent read fOnDownloadStart write
fOnDownloadStart;
property OnDownloadDone : TNotifyEvent read fOnDownloadDone write
fOnDownloadDone;
property OnDownloadStatus : TDownloadStatusEvent read FOnDownloadStatus
write FOnDownloadStatus;
end;
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Message is in Reply To:
 | | Re: Programming RCX using Delphi
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| hi Robert, Besides using spirit.ocx (I threw it away because of it's limitations and strange behaviour), you can also send/receive commands through a normal RS232 driver. I've done this in Delphi-5 (only RS232), you can download my sources here: (...) (23 years ago, 26-Nov-01, to lugnet.robotics)
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