BrickPi (raspoid 1.0 API)

java.lang.Object
- com.raspoid.brickpi.BrickPi

```
public class BrickPi
extends java.lang.Object
```
BrickPi implementation providing an interface to use motors and sensors

Field Summary

Fields
Modifier and Type	Field and Description
`static Led`	`LED1` Use when the LED 1 need to be controlled
`static Led`	`LED2` Use when the LED 2 need to be controlled
`static Motor`	`MA` Use when a motor is connected on port A to control it
`static Motor`	`MB` Use when a motor is connected on port B to control it
`static Motor`	`MC` Use when a motor is connected on port C to control it
`static Motor`	`MD` Use when a motor is connected on port D to control it
`static int`	`NB_ATMEGA_TARGETS` Number of Atmel chips (AtMega328).
`static int`	`NB_MOTORS_BY_ATMEGA` Number of motors for each AtMega328.
`static int`	`NB_SENSORS_BY_ATMEGA` Number of sensors for each AtMega328.
`static Sensor`	`S1` Use when a sensor is connected on port 1 to control it.
`static Sensor`	`S2` Use when a sensor is connected on port 2 to control it.
`static Sensor`	`S3` Use when a sensor is connected on port 3 to control it.
`static Sensor`	`S4` Use when a sensor is connected on port 4 to control it.

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static void`	`commitSettings(java.lang.Runnable transaction)` Convenient method to configure motors and sensors in an atomic fashion.
`static Motor[]`	`getMotors()` Convenient getter for all the motors
`static Sensor[]`	`getSensors()` Convenient getter for all the sensors
`static void`	`start()` Once sensors and motors are configured, this method is used to run the BrickPi.
`static void`	`stop()` Once the program is over, this method should be called to release the resources properly

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - NB_ATMEGA_TARGETS
```
public static final int NB_ATMEGA_TARGETS
```
    Number of Atmel chips (AtMega328).
    
    See Also:
    
    Constant Field Values
  - NB_SENSORS_BY_ATMEGA
```
public static final int NB_SENSORS_BY_ATMEGA
```
    Number of sensors for each AtMega328.
    
    See Also:
    
    Constant Field Values
  - NB_MOTORS_BY_ATMEGA
```
public static final int NB_MOTORS_BY_ATMEGA
```
    Number of motors for each AtMega328.
    
    See Also:
    
    Constant Field Values
  - MA
```
public static Motor MA
```
    Use when a motor is connected on port A to control it
  - MB
```
public static Motor MB
```
    Use when a motor is connected on port B to control it
  - MC
```
public static Motor MC
```
    Use when a motor is connected on port C to control it
  - MD
```
public static Motor MD
```
    Use when a motor is connected on port D to control it
  - S1
```
public static Sensor S1
```
    Use when a sensor is connected on port 1 to control it. It is and should be a RawSensor when not used.
  - S2
```
public static Sensor S2
```
    Use when a sensor is connected on port 2 to control it. It is and should be a RawSensor when not used.
  - S3
```
public static Sensor S3
```
    Use when a sensor is connected on port 3 to control it. It is and should be a RawSensor when not used.
  - S4
```
public static Sensor S4
```
    Use when a sensor is connected on port 4 to control it. It is and should be a RawSensor when not used.
  - LED1
```
public static final Led LED1
```
    Use when the LED 1 need to be controlled
  - LED2
```
public static final Led LED2
```
    Use when the LED 2 need to be controlled
- Method Detail
  - start
```
public static void start()
```
    Once sensors and motors are configured, this method is used to run the BrickPi. This launches the polling threads that update motors encoders and fetches fresh sensor values.
  - stop
```
public static void stop()
```
    Once the program is over, this method should be called to release the resources properly
  - getMotors
```
public static Motor[] getMotors()
```
    Convenient getter for all the motors
    
    Returns:
    
    an array with the motors references in order MA, MB, MC, MD
  - getSensors
```
public static Sensor[] getSensors()
```
    Convenient getter for all the sensors
    
    Returns:
    
    an array with the sensors references in order S1,S2,S3,S4
  - commitSettings
```
public static void commitSettings(java.lang.Runnable transaction)
```
    Convenient method to configure motors and sensors in an atomic fashion. This should only be used to set some values for motors or sensors and it should never block. The settings are committed in the caller's thread.
    
    Parameters:
    
    transaction - the transaction code to execute

Class BrickPi

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

NB_ATMEGA_TARGETS

NB_SENSORS_BY_ATMEGA

NB_MOTORS_BY_ATMEGA

MA

MB

MC

MD

S1

S2

S3

S4

LED1

LED2

Method Detail

start

stop

getMotors

getSensors

commitSettings