Package ev3dev.actuators.lego.motors

Class BasicMotor

java.lang.Object

ev3dev.hardware.EV3DevFileSystem

ev3dev.hardware.EV3DevPlatforms

ev3dev.hardware.EV3DevDevice

ev3dev.hardware.EV3DevMotorDevice

ev3dev.actuators.lego.motors.BasicMotor

Direct Known Subclasses:

UnregulatedMotor

public abstract class BasicMotor
extends EV3DevMotorDevice

Abstraction for basic motors operations. Unregulated motors only is enabled for EV3Brick.

Field Summary

Fields

Modifier and Type	Field and Description
private static Logger	log
private int	power

Fields inherited from class ev3dev.hardware.EV3DevMotorDevice

AUTO_MODE, BRAKE, COAST, COMMAND, DC_MOTOR, DUTY_CYCLE, HOLD, POLARITY, POLARITY_INVERSED, POLARITY_NORMAL, POSITION, POSITION_SP, POWER, RESET, RUN_DIRECT, RUN_FOREVER, RUN_TO_ABS_POS, RUN_TO_REL_POS, SPEED, STATE, STATE_RUNNING, STATE_STALLED, STOP, STOP_COMMAND, TACHO_MOTOR

Fields inherited from class ev3dev.hardware.EV3DevDevice

ADDRESS, DEVICE, LEGO_PORT, LEGO_SENSOR, MODE, PATH_DEVICE

Fields inherited from class ev3dev.hardware.EV3DevFileSystem

EV3DEV_ROOT_PATH, EV3DEV_TESTING_KEY, ROOT_PATH

Constructor Summary

Constructors

Constructor and Description
BasicMotor(Port motorPort) Constructor

Method Summary

Modifier and Type	Method and Description
void	backward() Causes motors to rotate backwards.
void	brake() Causes motors to float.
void	flt() Removes power from the motor.
void	forward() Causes motors to rotate forward.
int	getPower() Get power
boolean	isMoving() Returns true iff the motors is in motion.
void	setPower(int power) Set power
void	stop() Causes motors to stop, pretty much instantaneously.
protected void	updateState(java.lang.String newMode) Update the internal state tracking the motor direction

Methods inherited from class ev3dev.hardware.EV3DevDevice

detect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class ev3dev.hardware.EV3DevPlatforms

getMotorPort, getPlatform, getSensorPort

Methods inherited from class ev3dev.hardware.EV3DevFileSystem

getROOT_PATH

Methods inherited from class java.lang.Object

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

Field Detail

log

private static final Logger log

power

private int power

Constructor Detail

BasicMotor

public BasicMotor(Port motorPort)

Constructor

Parameters:

motorPort - port

Method Detail

setPower

public void setPower(int power)

Set power

Parameters:

power - new motors power 0-100

getPower

public int getPower()

Get power

Returns:

power

updateState

protected void updateState(java.lang.String newMode)

Update the internal state tracking the motor direction

Parameters:

newMode - mode

forward

public void forward()

Causes motors to rotate forward.

backward

public void backward()

Causes motors to rotate backwards.

isMoving

public boolean isMoving()

Returns true iff the motors is in motion.

Returns:

true iff the motors is currently in motion.

brake

public void brake()

Causes motors to float. The motors will lose all power, but this is not the same as stopping. Use this method if you don't want your robot to trip in abrupt turns.

flt

public void flt()

Removes power from the motor. The motor will freely coast to a stop.

stop

public void stop()

Causes motors to stop, pretty much instantaneously. In other words, the motors doesn't just stop; it will resist any further motion. Cancels any rotate() orders in progress