The nxt Reference Manual

Table of Contents

The nxt Reference Manual

This is the nxt Reference Manual, version 0.0.2, generated automatically by Declt version 3.0 "Montgomery Scott" on Mon Apr 19 15:06:28 2021 GMT+0.

1 Systems

The main system appears first, followed by any subsystem dependency.

1.1 nxt

Author

David Lichteblau, Willem Rein Oudshoorn <woudshoo@xs4all.nl>

License

BSD, see LICENSE file.

Description

Implements the Lego Mindstorm NXT interface over Bluetooth, USB or a TCP proxy.

Version

0.0.2

Dependencies

• cffi
• static-vectors
• babel

Source

nxt.asd (file)

Components

• package.lisp (file)
• nxt-classes.lisp (file)
• nxt-bluetooth.lisp (file)
• nxt-usb.lisp (file)
• nxt-command-infrastructure.lisp (file)
• nxt-commands.lisp (file)
• nxt-utilities.lisp (file)
• nxt-motorcontrol.lisp (file)
• nxt-sensors.lisp (file)

2 Files

Files are sorted by type and then listed depth-first from the systems components trees.

2.1 Lisp

2.1.1 nxt.asd

Location

nxt.asd

Systems

nxt (system)

Packages

nxt.system

2.1.2 nxt/package.lisp

Parent

nxt (system)

Location

package.lisp

Packages

nxt

2.1.3 nxt/nxt-classes.lisp

Dependency

package.lisp (file)

Parent

nxt (system)

Location

nxt-classes.lisp

Exported Definitions

• *default-bluetooth-device* (special variable)
• *nxt* (special variable)
• close-connection (function)
• find-an-nxt (function)
• nxt (class)
• open-connection (function)

Internal Definitions

• command-timestamp (method)
• (setf command-timestamp) (method)
• motor-state (class)
• motor-states (method)
• (setf motor-states) (method)

2.1.4 nxt/nxt-bluetooth.lisp

Dependency

nxt-classes.lisp (file)

Parent

nxt (system)

Location

nxt-bluetooth.lisp

Exported Definitions

• bluetooth-nxt (class)
• close-nxt (method)
• open-bluetooth-nxt (function)

Internal Definitions

• %compute-bluetooth-timeout (function)
• *bluetooth-delay-between-directions* (special variable)
• *bluetooth-delay-between-writes* (special variable)
• compute-bluetooth-timeout (generic function)
• compute-bluetooth-timeout (method)
• compute-bluetooth-timeout (method)
• connection (method)
• (setf connection) (method)
• note-data-read (function)
• note-data-written (function)
• read-from-nxt (method)
• read-little-endian-short (function)
• read-timestamp (method)
• (setf read-timestamp) (method)
• wait-for-bluetooth (function)
• write-timestamp (method)
• (setf write-timestamp) (method)
• write-to-nxt (method)
• write-to-nxt-us (function)

2.1.5 nxt/nxt-usb.lisp

Dependency

nxt-bluetooth.lisp (file)

Parent

nxt (system)

Location

nxt-usb.lisp

Exported Definitions

• close-nxt (method)
• find-usb-nxt (function)
• usb-nxt (class)

Internal Definitions

• *libusb-context* (special variable)
• *libusb-loaded-p* (special variable)
• *usb-timeout* (special variable)
• +usb-configuration+ (constant)
• +usb-interface+ (constant)
• +usb-maximum-frame-size+ (constant)
• +usb-recv-endpoint+ (constant)
• +usb-send-endpoint+ (constant)
• buf (method)
• (setf buf) (method)
• defcfun (macro)
• ensure-libusb-initialized (function)
• ensure-libusb-loaded (function)
• exit-libusb (function)
• handle (method)
• (setf handle) (method)
• libusb_bulk_transfer (function)
• libusb_claim_interface (function)
• libusb_close (function)
• libusb_exit (function)
• libusb_init (function)
• libusb_open_device_with_vid_pid (function)
• libusb_release_interface (function)
• libusb_set_configuration (function)
• read-from-nxt (method)
• write-to-nxt (method)

2.1.6 nxt/nxt-command-infrastructure.lisp

Dependency

nxt-usb.lisp (file)

Parent

nxt (system)

Location

nxt-command-infrastructure.lisp

Exported Definitions

• find-frame-pair (function)
• (setf find-frame-pair) (function)
• list-all-commands (function)
• perform-command (function)
• show-command (function)
• show-commands (function)

Internal Definitions

• %n-static-bytes (method)
• (setf %n-static-bytes) (method)
• *code-to-info-table* (special variable)
• *status-values* (special variable)
• +& (function)
• argnames-from-args (function)
• check-offsets (function)
• clear-all (function)
• create-nxt-command-form (function)
• data-parameter (class)
• data-parameter/fixed-length (class)
• data-parameter/implicit-length (class)
• data-parameter/specified-length (class)
• decode-parameter (generic function)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• def-nxt-command (macro)
• def-reply-package (macro)
• encode-frame (function)
• encode-parameter (generic function)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• ensure-frame-pair (function)
• fi-explicit-parameters (method)
• (setf fi-explicit-parameters) (method)
• fi-nbytes (function)
• fi-parameters (method)
• (setf fi-parameters) (method)
• fixed-length-parameter (type)
• fp-command-code (method)
• (setf fp-command-code) (method)
• fp-name (method)
• (setf fp-name) (method)
• fp-reply (method)
• (setf fp-reply) (method)
• fp-request (method)
• (setf fp-request) (method)
• fp-type-code (method)
• (setf fp-type-code) (method)
• frame-info (class)
• frame-pair (class)
• link-size-parameters! (function)
• lookup-command-code (function)
• n-static-bytes (function)
• nbytes-mixin (class)
• numeric-parameter (class)
• parameter-info (class)
• parse-frame-info (function)
• parse-parameter-spec (function)
• parse-parameter-specs (function)
• pi-adjust-size (method)
• (setf pi-adjust-size) (method)
• pi-end (function)
• pi-last-byte (function)
• pi-name (method)
• (setf pi-name) (method)
• pi-nbytes (generic function)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• (setf pi-nbytes) (method)
• pi-offset (method)
• (setf pi-offset) (method)
• pi-size-parameter (method)
• (setf pi-size-parameter) (method)
• read-reply (function)
• read-reply/checked (function)
• read-ubyte-from-reply (function)
• read-ulong-from-reply (function)
• read-uword-from-reply (function)
• sbyte-parameter (class)
• show-frame-info (function)
• sign-extend (function)
• size-parameter-p (method)
• size-parameter-p (method)
• (setf size-parameter-p) (method)
• slong-parameter (class)
• status-parameter (class)
• string-parameter (class)
• sword-parameter (class)
• ubyte-parameter (class)
• ulong-parameter (class)
• uword-parameter (class)
• variable-length-data-parameter (class)
• variable-length-frame-p (function)
• write-request (function)
• write-ubyte-to-command (function)
• write-ulong-to-command (function)
• write-uword-to-command (function)

2.1.7 nxt/nxt-commands.lisp

Dependency

nxt-command-infrastructure.lisp (file)

Parent

nxt (system)

Location

nxt-commands.lisp

Exported Definitions

• nxt-close (function)
• nxt-close-module-handle (function)
• nxt-delete (function)
• nxt-find-first (function)
• nxt-find-next (function)
• nxt-get-battery-level (function)
• nxt-get-current-program-name (function)
• nxt-get-device-info (function)
• nxt-get-firmware-version (function)
• nxt-get-input-values (function)
• nxt-get-output-state (function)
• nxt-keep-alive (function)
• nxt-ls-get-status (function)
• nxt-ls-read (function)
• nxt-ls-write (function)
• nxt-message-read (function)
• nxt-message-write (function)
• nxt-open-read (function)
• nxt-open-write (function)
• nxt-play-sound-file (function)
• nxt-play-tone (function)
• nxt-read (function)
• nxt-request-first-module (function)
• nxt-request-next-module (function)
• nxt-reset-input-scaled-value (function)
• nxt-reset-motor-position (function)
• nxt-set-input-mode (function)
• nxt-set-output-state (function)
• nxt-start-program (function)
• nxt-stop-program (function)
• nxt-stop-sound-playback (function)
• nxt-write (function)

Internal Definitions

ls-read (function)

2.1.8 nxt/nxt-utilities.lisp

Dependency

nxt-commands.lisp (file)

Parent

nxt (system)

Location

nxt-utilities.lisp

Internal Definitions

• copy-file-from-nxt (function)
• copy-file-to-nxt (function)
• find-all-files (function)
• find-all-modules (function)
• get-file (function)
• put-file (function)
• status-ok-p (function)
• value-of (function)

2.1.9 nxt/nxt-motorcontrol.lisp

Dependency

nxt-utilities.lisp (file)

Parent

nxt (system)

Location

nxt-motorcontrol.lisp

Exported Definitions

• motor-control (function)
• motor-ready-p (function)
• query-motor (function)
• restart-motor-control (function)
• running-a-program-p (function)
• sleep-until-motor-ready (function)
• start-program (function)
• stop-current-program (function)
• stop-motor (function)

Internal Definitions

• *motor-control-filename* (special variable)
• *start/stop-program-timeout* (special variable)
• +nxc-delay+ (constant)
• call-with-motor-delays (function)
• check-motor-control-ports (function)
• compute-motor-timeout (function)
• encode-motor-control-ports (function)
• ensure-message-read (function)
• note-motor-commanded (function)
• send-string-message (function)
• with-motor-delays (macro)

2.1.10 nxt/nxt-sensors.lisp

Dependency

nxt-motorcontrol.lisp (file)

Parent

nxt (system)

Location

nxt-sensors.lisp

Exported Definitions

• acceleration-sensor-on (function)
• angle-sensor-on (function)
• compass-on (function)
• enumerate-digital-sensors (function)
• get-acceleration (function)
• get-accumulated-angle (function)
• get-angle-sensor-data (function)
• get-brightness-or-color (function)
• get-compass (function)
• get-current-angle (function)
• get-rpm (function)
• get-switch (function)
• get-ultrasonic (function)
• light-off (function)
• lightdetector-on (function)
• probe-digital-sensor (function)
• switch-on (function)
• ultrasonic-on (function)

Internal Definitions

• +angle+ (constant)
• +anglestep-mode+ (constant)
• +boolean-mode+ (constant)
• +celsius-mode+ (constant)
• +continuous+ (constant)
• +custom+ (constant)
• +default-i2c-address+ (constant)
• +fahrenheit-mode+ (constant)
• +light-active+ (constant)
• +light-inactive+ (constant)
• +lowspeed+ (constant)
• +lowspeed-9v+ (constant)
• +mode-mask+ (constant)
• +no-sensor+ (constant)
• +pct-full-scale-mode+ (constant)
• +period-counter-mode+ (constant)
• +raw-mode+ (constant)
• +reflection+ (constant)
• +single-shot+ (constant)
• +slope-mask+ (constant)
• +sound-db+ (constant)
• +sound-dba+ (constant)
• +state-command+ (constant)
• +switch+ (constant)
• +temperature+ (constant)
• +transition-cnt-mode+ (constant)
• compute-timeout (function)
• get-calibrated-value (function)
• get-normalized-value (function)
• get-scaled-value (function)
• get-valid-input-values (function)
• read-i2c (function)
• timeoutp (function)
• ub8-vector (function)

3 Packages

Packages are listed by definition order.

3.1 nxt.system

Source

nxt.asd

Use List

• asdf/interface
• common-lisp

3.2 nxt

Source

package.lisp (file)

Use List

common-lisp

Exported Definitions

• *default-bluetooth-device* (special variable)
• *nxt* (special variable)
• acceleration-sensor-on (function)
• angle-sensor-on (function)
• bluetooth-nxt (class)
• close-connection (function)
• close-nxt (generic function)
• close-nxt (method)
• close-nxt (method)
• compass-on (function)
• enumerate-digital-sensors (function)
• find-an-nxt (function)
• find-frame-pair (function)
• (setf find-frame-pair) (function)
• find-usb-nxt (function)
• get-acceleration (function)
• get-accumulated-angle (function)
• get-angle-sensor-data (function)
• get-brightness-or-color (function)
• get-compass (function)
• get-current-angle (function)
• get-rpm (function)
• get-switch (function)
• get-ultrasonic (function)
• light-off (function)
• lightdetector-on (function)
• list-all-commands (function)
• motor-control (function)
• motor-ready-p (function)
• nxt (class)
• nxt-close (function)
• nxt-close-module-handle (function)
• nxt-delete (function)
• nxt-find-first (function)
• nxt-find-next (function)
• nxt-get-battery-level (function)
• nxt-get-current-program-name (function)
• nxt-get-device-info (function)
• nxt-get-firmware-version (function)
• nxt-get-input-values (function)
• nxt-get-output-state (function)
• nxt-keep-alive (function)
• nxt-ls-get-status (function)
• nxt-ls-read (function)
• nxt-ls-write (function)
• nxt-message-read (function)
• nxt-message-write (function)
• nxt-open-read (function)
• nxt-open-write (function)
• nxt-play-sound-file (function)
• nxt-play-tone (function)
• nxt-read (function)
• nxt-request-first-module (function)
• nxt-request-next-module (function)
• nxt-reset-input-scaled-value (function)
• nxt-reset-motor-position (function)
• nxt-set-input-mode (function)
• nxt-set-output-state (function)
• nxt-start-program (function)
• nxt-stop-program (function)
• nxt-stop-sound-playback (function)
• nxt-write (function)
• open-bluetooth-nxt (function)
• open-connection (function)
• perform-command (function)
• probe-digital-sensor (function)
• query-motor (function)
• restart-motor-control (function)
• running-a-program-p (function)
• show-command (function)
• show-commands (function)
• sleep-until-motor-ready (function)
• start-program (function)
• stop-current-program (function)
• stop-motor (function)
• switch-on (function)
• ultrasonic-on (function)
• usb-nxt (class)

Internal Definitions

• %compute-bluetooth-timeout (function)
• %n-static-bytes (generic function)
• %n-static-bytes (method)
• (setf %n-static-bytes) (method)
• (setf %n-static-bytes) (generic function)
• *bluetooth-delay-between-directions* (special variable)
• *bluetooth-delay-between-writes* (special variable)
• *code-to-info-table* (special variable)
• *libusb-context* (special variable)
• *libusb-loaded-p* (special variable)
• *motor-control-filename* (special variable)
• *start/stop-program-timeout* (special variable)
• *status-values* (special variable)
• *usb-timeout* (special variable)
• +& (function)
• +angle+ (constant)
• +anglestep-mode+ (constant)
• +boolean-mode+ (constant)
• +celsius-mode+ (constant)
• +continuous+ (constant)
• +custom+ (constant)
• +default-i2c-address+ (constant)
• +fahrenheit-mode+ (constant)
• +light-active+ (constant)
• +light-inactive+ (constant)
• +lowspeed+ (constant)
• +lowspeed-9v+ (constant)
• +mode-mask+ (constant)
• +no-sensor+ (constant)
• +nxc-delay+ (constant)
• +pct-full-scale-mode+ (constant)
• +period-counter-mode+ (constant)
• +raw-mode+ (constant)
• +reflection+ (constant)
• +single-shot+ (constant)
• +slope-mask+ (constant)
• +sound-db+ (constant)
• +sound-dba+ (constant)
• +state-command+ (constant)
• +switch+ (constant)
• +temperature+ (constant)
• +transition-cnt-mode+ (constant)
• +usb-configuration+ (constant)
• +usb-interface+ (constant)
• +usb-maximum-frame-size+ (constant)
• +usb-recv-endpoint+ (constant)
• +usb-send-endpoint+ (constant)
• argnames-from-args (function)
• buf (generic function)
• buf (method)
• (setf buf) (method)
• (setf buf) (generic function)
• call-with-motor-delays (function)
• check-motor-control-ports (function)
• check-offsets (function)
• clear-all (function)
• command-timestamp (generic function)
• command-timestamp (method)
• (setf command-timestamp) (method)
• (setf command-timestamp) (generic function)
• compute-bluetooth-timeout (generic function)
• compute-bluetooth-timeout (method)
• compute-bluetooth-timeout (method)
• compute-motor-timeout (function)
• compute-timeout (function)
• connection (generic function)
• connection (method)
• (setf connection) (method)
• (setf connection) (generic function)
• copy-file-from-nxt (function)
• copy-file-to-nxt (function)
• create-nxt-command-form (function)
• data-parameter (class)
• data-parameter/fixed-length (class)
• data-parameter/implicit-length (class)
• data-parameter/specified-length (class)
• decode-parameter (generic function)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• decode-parameter (method)
• def-nxt-command (macro)
• def-reply-package (macro)
• defcfun (macro)
• encode-frame (function)
• encode-motor-control-ports (function)
• encode-parameter (generic function)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• encode-parameter (method)
• ensure-frame-pair (function)
• ensure-libusb-initialized (function)
• ensure-libusb-loaded (function)
• ensure-message-read (function)
• exit-libusb (function)
• fi-explicit-parameters (generic function)
• fi-explicit-parameters (method)
• (setf fi-explicit-parameters) (method)
• (setf fi-explicit-parameters) (generic function)
• fi-nbytes (function)
• fi-parameters (generic function)
• fi-parameters (method)
• (setf fi-parameters) (method)
• (setf fi-parameters) (generic function)
• find-all-files (function)
• find-all-modules (function)
• fixed-length-parameter (type)
• fp-command-code (generic function)
• fp-command-code (method)
• (setf fp-command-code) (method)
• (setf fp-command-code) (generic function)
• fp-name (generic function)
• fp-name (method)
• (setf fp-name) (method)
• (setf fp-name) (generic function)
• fp-reply (generic function)
• fp-reply (method)
• (setf fp-reply) (method)
• (setf fp-reply) (generic function)
• fp-request (generic function)
• fp-request (method)
• (setf fp-request) (method)
• (setf fp-request) (generic function)
• fp-type-code (generic function)
• fp-type-code (method)
• (setf fp-type-code) (method)
• (setf fp-type-code) (generic function)
• frame-info (class)
• frame-pair (class)
• get-calibrated-value (function)
• get-file (function)
• get-normalized-value (function)
• get-scaled-value (function)
• get-valid-input-values (function)
• handle (generic function)
• handle (method)
• (setf handle) (method)
• (setf handle) (generic function)
• libusb_bulk_transfer (function)
• libusb_claim_interface (function)
• libusb_close (function)
• libusb_exit (function)
• libusb_init (function)
• libusb_open_device_with_vid_pid (function)
• libusb_release_interface (function)
• libusb_set_configuration (function)
• link-size-parameters! (function)
• lookup-command-code (function)
• ls-read (function)
• motor-state (class)
• motor-states (generic function)
• motor-states (method)
• (setf motor-states) (method)
• (setf motor-states) (generic function)
• n-static-bytes (function)
• nbytes-mixin (class)
• note-data-read (function)
• note-data-written (function)
• note-motor-commanded (function)
• numeric-parameter (class)
• parameter-info (class)
• parse-frame-info (function)
• parse-parameter-spec (function)
• parse-parameter-specs (function)
• pi-adjust-size (generic function)
• pi-adjust-size (method)
• (setf pi-adjust-size) (method)
• (setf pi-adjust-size) (generic function)
• pi-end (function)
• pi-last-byte (function)
• pi-name (generic function)
• pi-name (method)
• (setf pi-name) (method)
• (setf pi-name) (generic function)
• pi-nbytes (generic function)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• pi-nbytes (method)
• (setf pi-nbytes) (generic function)
• (setf pi-nbytes) (method)
• pi-offset (generic function)
• pi-offset (method)
• (setf pi-offset) (method)
• (setf pi-offset) (generic function)
• pi-size-parameter (generic function)
• pi-size-parameter (method)
• (setf pi-size-parameter) (method)
• (setf pi-size-parameter) (generic function)
• put-file (function)
• read-from-nxt (generic function)
• read-from-nxt (method)
• read-from-nxt (method)
• read-i2c (function)
• read-little-endian-short (function)
• read-reply (function)
• read-reply/checked (function)
• read-timestamp (generic function)
• read-timestamp (method)
• (setf read-timestamp) (method)
• (setf read-timestamp) (generic function)
• read-ubyte-from-reply (function)
• read-ulong-from-reply (function)
• read-uword-from-reply (function)
• sbyte-parameter (class)
• send-string-message (function)
• show-frame-info (function)
• sign-extend (function)
• size-parameter-p (generic function)
• size-parameter-p (method)
• size-parameter-p (method)
• (setf size-parameter-p) (generic function)
• (setf size-parameter-p) (method)
• slong-parameter (class)
• status-ok-p (function)
• status-parameter (class)
• string-parameter (class)
• sword-parameter (class)
• timeoutp (function)
• ub8-vector (function)
• ubyte-parameter (class)
• ulong-parameter (class)
• uword-parameter (class)
• value-of (function)
• variable-length-data-parameter (class)
• variable-length-frame-p (function)
• wait-for-bluetooth (function)
• with-motor-delays (macro)
• write-request (function)
• write-timestamp (generic function)
• write-timestamp (method)
• (setf write-timestamp) (method)
• (setf write-timestamp) (generic function)
• write-to-nxt (generic function)
• write-to-nxt (method)
• write-to-nxt (method)
• write-to-nxt-us (function)
• write-ubyte-to-command (function)
• write-ulong-to-command (function)
• write-uword-to-command (function)

4 Definitions

Definitions are sorted by export status, category, package, and then by lexicographic order.

4.1 Exported definitions

4.1.1 Special variables

Special Variable: *default-bluetooth-device*

Package

nxt

Source

nxt-classes.lisp (file)

Special Variable: *nxt*

Holds the default NXT instance (which functions use by default, if no explicit NXT parameter is given. Replaces the old *connection* variable.

Package

nxt

Source

nxt-classes.lisp (file)

4.1.2 Functions

Function: acceleration-sensor-on PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: angle-sensor-on PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: close-connection ()

Package

nxt

Source

nxt-classes.lisp (file)

Function: compass-on PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: enumerate-digital-sensors &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: find-an-nxt &optional LOOK-FOR-TYPES DEVICE ERRORP

Package

nxt

Source

nxt-classes.lisp (file)

Function: find-frame-pair NAME &optional ERRORP

Function: (setf find-frame-pair) NEWVAL NAME

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: find-usb-nxt ()

Package

nxt

Source

nxt-usb.lisp (file)

Function: get-acceleration PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-accumulated-angle PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-angle-sensor-data PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-brightness-or-color PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-compass PORT &key NXT UNIT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-current-angle PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-rpm PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-switch PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-ultrasonic PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: light-off PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: lightdetector-on PORT &key COLOR NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: list-all-commands &optional APROPOS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: motor-control FIRST-MOTOR SECOND-MOTOR &key NXT POWER TACHO-LIMIT SPEED-REGULATION-P ACTION-AT-TACHO-LIMIT SMOOTH-START-P

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: motor-ready-p PORT &key NXT

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: nxt-close &key HANDLE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-close-module-handle &key HANDLE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-delete &key FILE-NAME NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-find-first &key FILE-NAME NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-find-next &key HANDLE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-get-battery-level &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-get-current-program-name &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-get-device-info &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-get-firmware-version &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-get-input-values &key INPUT-PORT NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-get-output-state &key OUTPUT-PORT NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-keep-alive &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-ls-get-status &key PORT NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-ls-read &key PORT NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-ls-write &key PORT RX-DATA-LENGTH TX-DATA NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-message-read &key REMOTE-INBOX LOCAL-INBOX REMOVE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-message-write &key INBOX MESSAGE-DATA NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-open-read &key FILE-NAME NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-open-write &key FILE-NAME FILE-SIZE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-play-sound-file &key LOOP FILE-NAME NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-play-tone &key FREQUENCY DURATION NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-read &key HANDLE NR-OF-BYTES NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-request-first-module &key RESOURCE-NAME NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-request-next-module &key HANDLE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-reset-input-scaled-value &key INPUT-PORT NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-reset-motor-position &key OUTPUT-PORT RELATIVE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-set-input-mode &key INPUT-PORT SENSOR-TYPE SENSOR-MODE NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-set-output-state &key OUTPUT-PORT POWER-SET-POINT MODE REGULATION-MODE TURN-RATIO RUN-STATE TACHO-LIMIT NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-start-program &key FILE-NAME NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-stop-program &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-stop-sound-playback &key NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: nxt-write &key HANDLE DATA NXT ONEWAYP RETURN-STYLE CHECK-STATUS

Package

nxt

Source

nxt-commands.lisp (file)

Function: open-bluetooth-nxt DEVICE &key IF-DOES-NOT-EXIST

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: open-connection &optional LOOK-FOR-TYPES DEVICE

Package

nxt

Source

nxt-classes.lisp (file)

Function: perform-command NXT FP ONEWAYP RETURN-STYLE EXPECTED-STATUS ARGS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: probe-digital-sensor PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: query-motor PORT &rest KEYS &key NXT RESULT-STYLE ASSERT-STATUS

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: restart-motor-control &key NXT

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: running-a-program-p &optional NXT

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: show-command FP

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: show-commands &optional APROPOS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: sleep-until-motor-ready PORT &key NXT

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: start-program PROGRAM-NAME &key NXT STOP-AND-WAIT-P

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: stop-current-program &key NXT WAITP

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: stop-motor PORT &key NXT

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: switch-on PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: ultrasonic-on PORT &key SINGLE-SHOT-P NXT

Package

nxt

Source

nxt-sensors.lisp (file)

4.1.3 Generic functions

Generic Function: close-nxt NXT

Package

nxt

Methods

Method: close-nxt (NXT usb-nxt)

Source

nxt-usb.lisp (file)

Method: close-nxt (NXT bluetooth-nxt)

Source

nxt-bluetooth.lisp (file)

4.1.4 Classes

Class: bluetooth-nxt ()

Package

nxt

Source

nxt-bluetooth.lisp (file)

Direct superclasses

nxt (class)

Direct methods

• read-from-nxt (method)
• write-to-nxt (method)
• print-object (method)
• close-nxt (method)
• write-timestamp (method)
• write-timestamp (method)
• read-timestamp (method)
• read-timestamp (method)
• connection (method)
• connection (method)

Direct slots

Slot: connection

Initargs

:connection

Readers

connection (generic function)

Writers

(setf connection) (generic function)

Slot: read-timestamp

Initform

0

Readers

read-timestamp (generic function)

Writers

(setf read-timestamp) (generic function)

Slot: write-timestamp

Initform

0

Readers

write-timestamp (generic function)

Writers

(setf write-timestamp) (generic function)

Class: nxt ()

Common superclass of BLUETOOTH-NXT and USB-NXT.

Package

nxt

Source

nxt-classes.lisp (file)

Direct superclasses

standard-object (class)

Direct subclasses

• bluetooth-nxt (class)
• usb-nxt (class)

Direct methods

• initialize-instance (method)
• motor-states (method)
• motor-states (method)

Direct slots

Slot: motor-states

Readers

motor-states (generic function)

Writers

(setf motor-states) (generic function)

Class: usb-nxt ()

Package

nxt

Source

nxt-usb.lisp (file)

Direct superclasses

nxt (class)

Direct methods

• read-from-nxt (method)
• write-to-nxt (method)
• close-nxt (method)
• buf (method)
• buf (method)
• handle (method)
• handle (method)

Direct slots

Slot: handle

Initargs

:handle

Readers

handle (generic function)

Writers

(setf handle) (generic function)

Slot: buf

Initargs

:buf

Readers

buf (generic function)

Writers

(setf buf) (generic function)

4.2 Internal definitions

4.2.1 Constants

Constant: +angle+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +anglestep-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +boolean-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +celsius-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +continuous+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +custom+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +default-i2c-address+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +fahrenheit-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +light-active+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +light-inactive+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +lowspeed+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +lowspeed-9v+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +mode-mask+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +no-sensor+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +nxc-delay+

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Constant: +pct-full-scale-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +period-counter-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +raw-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +reflection+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +single-shot+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +slope-mask+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +sound-db+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +sound-dba+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +state-command+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +switch+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +temperature+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +transition-cnt-mode+

Package

nxt

Source

nxt-sensors.lisp (file)

Constant: +usb-configuration+

Package

nxt

Source

nxt-usb.lisp (file)

Constant: +usb-interface+

Package

nxt

Source

nxt-usb.lisp (file)

Constant: +usb-maximum-frame-size+

Package

nxt

Source

nxt-usb.lisp (file)

Constant: +usb-recv-endpoint+

Package

nxt

Source

nxt-usb.lisp (file)

Constant: +usb-send-endpoint+

Package

nxt

Source

nxt-usb.lisp (file)

4.2.2 Special variables

Special Variable: *bluetooth-delay-between-directions*

Required delay in seconds when switching between reading from and writing to the brick in either direction.

Package

nxt

Source

nxt-bluetooth.lisp (file)

Special Variable: *bluetooth-delay-between-writes*

Required delay in seconds between successive writes to the brick.

Package

nxt

Source

nxt-bluetooth.lisp (file)

Special Variable: *code-to-info-table*

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Special Variable: *libusb-context*

Package

nxt

Source

nxt-usb.lisp (file)

Special Variable: *libusb-loaded-p*

Package

nxt

Source

nxt-usb.lisp (file)

Special Variable: *motor-control-filename*

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Special Variable: *start/stop-program-timeout*

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Special Variable: *status-values*

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Special Variable: *usb-timeout*

Package

nxt

Source

nxt-usb.lisp (file)

4.2.3 Macros

Macro: def-nxt-command NAME NAME-CODE TYPE-CODE &rest REST

Creates the command function ‘name’ which is a nxt command with the
two command identification bytes ‘type-code’ and ‘command-code’.
The ‘args’ contains key value pairs that should be taken by the function together with a type specifier. Type specifiers are lists of the form (‘type’ ‘position’ rest). The type is one of

ubyte - unsigned byte
uword - unsigned word (2 bytes)
ulong - unsigned long (4 bytes)
string - has additional parameter, ‘final-position’.

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Macro: def-reply-package CODE &rest REST

Creates a ‘parse-nxt-reply’ specialized ‘(eql code)’ to parse a nxt reply package. The method ‘(parse-nxt-reply ((code (eql code)) (data vector)) ...)’
...

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Macro: defcfun NAME RET &rest ARGS

Package

nxt

Source

nxt-usb.lisp (file)

Macro: with-motor-delays (NXT PORT) &body BODY

Package

nxt

Source

nxt-motorcontrol.lisp (file)

4.2.4 Functions

Function: %compute-bluetooth-timeout TIMESTAMP DELAY

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: +& A B

adds numbers, but lets symbols fall through

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: argnames-from-args ARGS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: call-with-motor-delays FUN NXT PORT

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: check-motor-control-ports A B

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: check-offsets PARAMETERS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: clear-all ()

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: compute-motor-timeout MOTORS

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: compute-timeout S

Package

nxt

Source

nxt-sensors.lisp (file)

Function: copy-file-from-nxt FILE-NAME-NXT FILE-NAME

Package

nxt

Source

nxt-utilities.lisp (file)

Function: copy-file-to-nxt FILE-NAME FILE-NAME-NXT

Package

nxt

Source

nxt-utilities.lisp (file)

Function: create-nxt-command-form NAME TYPE-CODE COMMAND-CODE &rest ARGS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: encode-frame TC CC FI ARGS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: encode-motor-control-ports A B

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: ensure-frame-pair NAME TYPE-CODE COMMAND-CODE

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: ensure-libusb-initialized ()

Package

nxt

Source

nxt-usb.lisp (file)

Function: ensure-libusb-loaded ()

Package

nxt

Source

nxt-usb.lisp (file)

Function: ensure-message-read NXT REMOTE-INBOX LOCAL-INBOX REMOVE

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: exit-libusb ()

Package

nxt

Source

nxt-usb.lisp (file)

Function: fi-nbytes FI ARGUMENTS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: find-all-files ()

Package

nxt

Source

nxt-utilities.lisp (file)

Function: find-all-modules ()

Package

nxt

Source

nxt-utilities.lisp (file)

Function: get-calibrated-value PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-file FILE-NAME

Package

nxt

Source

nxt-utilities.lisp (file)

Function: get-normalized-value PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-scaled-value PORT &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: get-valid-input-values PORT &key NXT TIMEOUT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: libusb_bulk_transfer DEVICE ENDPOINT DATA LENGTH TRANSFERRED TIMEOUT

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_claim_interface DEVICE IFACE

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_close DEVICE

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_exit CONTEXT

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_init &CONTEXT

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_open_device_with_vid_pid CONTEXT VENDOR DEVICE

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_release_interface DEVICE IFACE

Package

nxt

Source

nxt-usb.lisp (file)

Function: libusb_set_configuration DEVICE CONFIGURATION

Package

nxt

Source

nxt-usb.lisp (file)

Function: link-size-parameters! PARAMS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: lookup-command-code COMMAND-CODE

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: ls-read &rest KEYS

Package

nxt

Source

nxt-commands.lisp (file)

Function: n-static-bytes FI

Cached length of the frame, excluding variable-length DATA, but including fixed-length DATA (and, of course, also including the length parameter which DATA refers to, if any).

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: note-data-read NXT

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: note-data-written NXT

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: note-motor-commanded MOTOR

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: parse-frame-info SPECS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: parse-parameter-spec NAME SPEC

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: parse-parameter-specs SPECS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: pi-end P

The offset of the first byte following the parameter.
Returns :unknown if the end is not known (for a DATA-PARAMETER).

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: pi-last-byte P

The offset of the parameter’s last byte, i.e. the byte preceding PI-END. Returns :unknown if the end is not known (for a DATA-PARAMETER).

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: put-file FILE-NAME DATA

Package

nxt

Source

nxt-utilities.lisp (file)

Function: read-i2c PORT RX-LEN DEVICE REGISTER &key NXT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: read-little-endian-short STREAM

Read a 16 bit int from the nxt, lsb first.

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: read-reply NXT CC FI

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: read-reply/checked NXT CC FI RETURN-STYLE EXPECTED-STATUS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: read-ubyte-from-reply VECTOR LOCATION

Extract unsigned byte value from the reply vector ‘vector’ at location ‘location’.

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: read-ulong-from-reply VECTOR LOCATION

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: read-uword-from-reply VECTOR LOCATION

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: send-string-message INBOX MESSAGE &key NXT CHECK-STATUS

Package

nxt

Source

nxt-motorcontrol.lisp (file)

Function: show-frame-info FI

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: sign-extend BITS VALUE

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: status-ok-p REPLY

Package

nxt

Source

nxt-utilities.lisp (file)

Function: timeoutp ABS-TIMEOUT

Package

nxt

Source

nxt-sensors.lisp (file)

Function: ub8-vector &rest ARGS

Package

nxt

Source

nxt-sensors.lisp (file)

Function: value-of KEY ASSOC

Package

nxt

Source

nxt-utilities.lisp (file)

Function: variable-length-frame-p FI

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: wait-for-bluetooth NXT DELAY-TYPE

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: write-request NXT TC CC FI ONEWAYP ARGS

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: write-to-nxt-us SHORT STREAM

Write a 16 bit int to the nxt lsb first.

Package

nxt

Source

nxt-bluetooth.lisp (file)

Function: write-ubyte-to-command VECTOR VALUE LOCATION

Put the value ‘value’ in the command vector ‘vector’ at location ‘location’.

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: write-ulong-to-command VECTOR VALUE LOCATION

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Function: write-uword-to-command VECTOR VALUE LOCATION

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

4.2.5 Generic functions

Generic Function: %n-static-bytes OBJECT

Generic Function: (setf %n-static-bytes) NEW-VALUE OBJECT

Package

nxt

Methods

Method: %n-static-bytes (FRAME-INFO frame-info)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf %n-static-bytes) NEW-VALUE (FRAME-INFO frame-info)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: buf OBJECT

Generic Function: (setf buf) NEW-VALUE OBJECT

Package

nxt

Methods

Method: buf (USB-NXT usb-nxt)

automatically generated reader method

Source

nxt-usb.lisp (file)

Method: (setf buf) NEW-VALUE (USB-NXT usb-nxt)

automatically generated writer method

Source

nxt-usb.lisp (file)

Generic Function: command-timestamp OBJECT

Generic Function: (setf command-timestamp) NEW-VALUE OBJECT

Package

nxt

Methods

Method: command-timestamp (MOTOR-STATE motor-state)

automatically generated reader method

Source

nxt-classes.lisp (file)

Method: (setf command-timestamp) NEW-VALUE (MOTOR-STATE motor-state)

automatically generated writer method

Source

nxt-classes.lisp (file)

Generic Function: compute-bluetooth-timeout NXT DELAY-TYPE

Package

nxt

Source

nxt-bluetooth.lisp (file)

Methods

Method: compute-bluetooth-timeout NXT (DELAY-TYPE (eql read))

Method: compute-bluetooth-timeout NXT (DELAY-TYPE (eql write))

Generic Function: connection OBJECT

Generic Function: (setf connection) NEW-VALUE OBJECT

Package

nxt

Methods

Method: connection (BLUETOOTH-NXT bluetooth-nxt)

automatically generated reader method

Source

nxt-bluetooth.lisp (file)

Method: (setf connection) NEW-VALUE (BLUETOOTH-NXT bluetooth-nxt)

automatically generated writer method

Source

nxt-bluetooth.lisp (file)

Generic Function: decode-parameter PARAM VECTOR

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Methods

Method: decode-parameter (PARAM ubyte-parameter) VECTOR

Method: decode-parameter (PARAM sbyte-parameter) VECTOR

Method: decode-parameter (PARAM status-parameter) VECTOR

Method: decode-parameter (PARAM string-parameter) VECTOR

Method: decode-parameter (PARAM uword-parameter) VECTOR

Method: decode-parameter (PARAM sword-parameter) VECTOR

Method: decode-parameter (PARAM ulong-parameter) VECTOR

Method: decode-parameter (PARAM slong-parameter) VECTOR

Method: decode-parameter (PARAM data-parameter/fixed-length) VECTOR

Method: decode-parameter (PARAM data-parameter/implicit-length) VECTOR

Method: decode-parameter (PARAM data-parameter/specified-length) VECTOR

Generic Function: encode-parameter PARAM VAL INTO-VECTOR

Package

nxt

Source

nxt-command-infrastructure.lisp (file)

Methods

Method: encode-parameter (PARAM ubyte-parameter) VAL VECTOR

Method: encode-parameter (PARAM sbyte-parameter) VAL VECTOR

Method: encode-parameter (PARAM status-parameter) VAL VECTOR

Method: encode-parameter (PARAM string-parameter) VAL VECTOR

Method: encode-parameter (PARAM uword-parameter) VAL VECTOR

Method: encode-parameter (PARAM sword-parameter) VAL VECTOR

Method: encode-parameter (PARAM ulong-parameter) VAL VECTOR

Method: encode-parameter (PARAM data-parameter/fixed-length) VAL VECTOR

Method: encode-parameter (PARAM data-parameter/implicit-length) VAL VECTOR

Method: encode-parameter (PARAM data-parameter/specified-length) VAL VECTOR

Generic Function: fi-explicit-parameters OBJECT

Generic Function: (setf fi-explicit-parameters) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fi-explicit-parameters (FRAME-INFO frame-info)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fi-explicit-parameters) NEW-VALUE (FRAME-INFO frame-info)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: fi-parameters OBJECT

Generic Function: (setf fi-parameters) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fi-parameters (FRAME-INFO frame-info)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fi-parameters) NEW-VALUE (FRAME-INFO frame-info)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: fp-command-code OBJECT

Generic Function: (setf fp-command-code) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fp-command-code (FRAME-PAIR frame-pair)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fp-command-code) NEW-VALUE (FRAME-PAIR frame-pair)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: fp-name OBJECT

Generic Function: (setf fp-name) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fp-name (FRAME-PAIR frame-pair)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fp-name) NEW-VALUE (FRAME-PAIR frame-pair)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: fp-reply OBJECT

Generic Function: (setf fp-reply) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fp-reply (FRAME-PAIR frame-pair)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fp-reply) NEW-VALUE (FRAME-PAIR frame-pair)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: fp-request OBJECT

Generic Function: (setf fp-request) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fp-request (FRAME-PAIR frame-pair)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fp-request) NEW-VALUE (FRAME-PAIR frame-pair)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: fp-type-code OBJECT

Generic Function: (setf fp-type-code) NEW-VALUE OBJECT

Package

nxt

Methods

Method: fp-type-code (FRAME-PAIR frame-pair)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf fp-type-code) NEW-VALUE (FRAME-PAIR frame-pair)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: handle OBJECT

Generic Function: (setf handle) NEW-VALUE OBJECT

Package

nxt

Methods

Method: handle (USB-NXT usb-nxt)

automatically generated reader method

Source

nxt-usb.lisp (file)

Method: (setf handle) NEW-VALUE (USB-NXT usb-nxt)

automatically generated writer method

Source

nxt-usb.lisp (file)

Generic Function: motor-states OBJECT

Generic Function: (setf motor-states) NEW-VALUE OBJECT

Package

nxt

Methods

Method: motor-states (NXT nxt)

automatically generated reader method

Source

nxt-classes.lisp (file)

Method: (setf motor-states) NEW-VALUE (NXT nxt)

automatically generated writer method

Source

nxt-classes.lisp (file)

Generic Function: pi-adjust-size OBJECT

Generic Function: (setf pi-adjust-size) NEW-VALUE OBJECT

Package

nxt

Methods

Method: pi-adjust-size (DATA-PARAMETER/SPECIFIED-LENGTH data-parameter/specified-length)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf pi-adjust-size) NEW-VALUE (DATA-PARAMETER/SPECIFIED-LENGTH data-parameter/specified-length)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)

Generic Function: pi-name OBJECT

Generic Function: (setf pi-name) NEW-VALUE OBJECT

Package

nxt

Methods

Method: pi-name (PARAMETER-INFO parameter-info)

automatically generated reader method

Source

nxt-command-infrastructure.lisp (file)

Method: (setf pi-name) NEW-VALUE (PARAMETER-INFO parameter-info)

automatically generated writer method

Source

nxt-command-infrastructure.lisp (file)