lejos.hardware.device.tetrix

Class TetrixMotor

java.lang.Object

lejos.hardware.device.tetrix.TetrixMotor

All Implemented Interfaces:

BaseMotor, DCMotor

Direct Known Subclasses:

TetrixEncoderMotor

public class TetrixMotor
extends java.lang.Object
implements DCMotor

Tetrix basic DC motor abstraction without encoder support. The default power at instantiation is 100%.

Use TetrixMotorController.getBasicMotor(int) to retrieve a TetrixMotor instance.

Author:

Kirk P. Thompson

Method Summary

Modifier and Type	Method and Description
void	backward() Causes motor to rotate backwards until stop() or flt() is called.
void	flt() Motor loses all power, causing the rotor to float freely to a stop.
void	forward() Causes motor to rotate forward until stop() or flt() is called.
int	getPower() Returns the current motor power setting.
boolean	isMoving() Return true if the motor is moving.
void	setPower(int power) Set the power level 0%-100% to be applied to the motor
void	setReverse(boolean reverse) Used to alter the forward/reverse direction mapping for the motor output.
void	stop() Causes motor to stop immediately.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

setPower

public void setPower(int power)

Description copied from interface: DCMotor

Set the power level 0%-100% to be applied to the motor

Specified by:

setPower in interface DCMotor

Parameters:

power - new motor power 0-100

getPower

public int getPower()

Description copied from interface: DCMotor

Returns the current motor power setting.

Specified by:

getPower in interface DCMotor

Returns:

current power 0-100

forward

public void forward()

Description copied from interface: BaseMotor

Causes motor to rotate forward until stop() or flt() is called.

Specified by:

forward in interface BaseMotor

backward

public void backward()

Description copied from interface: BaseMotor

Causes motor to rotate backwards until stop() or flt() is called.

Specified by:

backward in interface BaseMotor

stop

public void stop()

Description copied from interface: BaseMotor

Causes motor to stop immediately. It will resist any further motion. Cancels any rotate() orders in progress.

Specified by:

stop in interface BaseMotor

flt

public void flt()

Description copied from interface: BaseMotor

Motor loses all power, causing the rotor to float freely to a stop. This is not the same as stopping, which locks the rotor.

Specified by:

flt in interface BaseMotor

isMoving

public boolean isMoving()

Return true if the motor is moving. Note that this method reports based on the current control state (i.e. commanded to move) and not if the motor is actually moving. This means a motor may be stalled but this method would return true.

Specified by:

isMoving in interface BaseMotor

Returns:

true if the motor is executing a movement command, false if stopped.

setReverse

public void setReverse(boolean reverse)

Used to alter the forward/reverse direction mapping for the motor output. This is primarily intended to harmonize the forward and reverse directions for motors on opposite sides of a skid-steer chassis.

Changes to this setting take effect on the next motor command.

Parameters:

reverse - true to reverse direction mapping for this motor