;;; Copyright (c) 2010-2011 by Willem Rein Oudshoorn ;;; ;;; Licensed under the BSD License, see accompanied LICENSE file ;;; (in-package #:cl-user) (defpackage #:nxt (:use #:cl) (:export #:nxt ;classes #:usb-nxt #:bluetooth-nxt #:*nxt* ;default brick handling #:open-connection #:close-connection #:find-an-nxt ;low-level opening and closing #:open-bluetooth-nxt #:find-usb-nxt #:close-nxt #:*default-bluetooth-device* ;; nxt commands #:nxt-open-read #:nxt-open-write #:nxt-read #:nxt-write #:nxt-close #:nxt-delete #:nxt-find-first #:nxt-find-next #:nxt-get-firmware-version #:nxt-get-device-info #:nxt-request-first-module #:nxt-request-next-module #:nxt-close-module-handle #:nxt-start-program #:nxt-stop-program #:nxt-play-sound-file #:nxt-play-tone #:nxt-set-output-state #:nxt-set-input-mode #:nxt-get-output-state #:nxt-get-input-values #:nxt-reset-input-scaled-value #:nxt-message-write #:nxt-reset-motor-position #:nxt-get-battery-level #:nxt-stop-sound-playback #:nxt-keep-alive #:nxt-ls-get-status #:nxt-ls-write #:nxt-ls-read #:nxt-get-current-program-name #:nxt-message-read ;; lower-level functions for users not wishing to go through ;; the individual exported symbols above: #:find-frame-pair #:perform-command ;; introspection #:list-all-commands #:show-commands #:show-command ;; programs #:running-a-program-p #:stop-current-program #:start-program ;; MotorControl #:restart-motor-control #:motor-control #:stop-motor #:query-motor #:motor-ready-p #:sleep-until-motor-ready ;; sensor utilities #:switch-on #:get-switch #:lightdetector-on #:light-off #:get-brightness-or-color #:ultrasonic-on #:get-ultrasonic #:acceleration-sensor-on #:get-acceleration #:angle-sensor-on #:get-angle-sensor-data #:get-current-angle #:get-accumulated-angle #:get-rpm #:compass-on #:get-compass #:enumerate-digital-sensors #:probe-digital-sensor)) (pushnew :nxt *features*)