lejos.hardware.motor

Class BasicMotor

java.lang.Object

lejos.hardware.Device

lejos.hardware.motor.BasicMotor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, BaseMotor, DCMotor

Direct Known Subclasses:

RCXMotor, UnregulatedMotor

public abstract class BasicMotor
extends Device
implements DCMotor

Abstraction for basic motor operations.

Author:

Lawrie Griffiths.

Field Summary

Fields

Modifier and Type	Field and Description
protected static int	INVALID_MODE
protected int	mode
protected BasicMotorPort	port
protected int	power

Fields inherited from class lejos.hardware.Device

closeList

Constructor Summary

Constructors

Constructor and Description
BasicMotor()

Method Summary

Modifier and Type	Method and Description
void	backward() Causes motor to rotate backwards.
void	flt() Causes motor to float.
void	forward() Causes motor to rotate forward.
int	getPower() Returns the current motor power setting.
boolean	isMoving() Returns true iff the motor is in motion.
void	setPower(int power) Set the power level 0%-100% to be applied to the motor
void	stop() Causes motor to stop, pretty much instantaneously.
protected void	updateState(int newMode) Update the internal state tracking the motor direction

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

INVALID_MODE

protected static int INVALID_MODE

mode

protected int mode

port

protected BasicMotorPort port

power

protected int power

Constructor Detail

BasicMotor

public BasicMotor()

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

updateState

protected void updateState(int newMode)

Update the internal state tracking the motor direction

Parameters:

newMode -

forward

public void forward()

Causes motor to rotate forward.

Specified by:

forward in interface BaseMotor

backward

public void backward()

Causes motor to rotate backwards.

Specified by:

backward in interface BaseMotor

isMoving

public boolean isMoving()

Returns true iff the motor is in motion.

Specified by:

isMoving in interface BaseMotor

Returns:

true iff the motor is currently in motion.

flt

public void flt()

Causes motor to float. The motor 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.

Specified by:

flt in interface BaseMotor

stop

public void stop()

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

Specified by:

stop in interface BaseMotor