public class RemoteMotorPort extends RemoteIOPort implements TachoMotorPort
Modifier and Type | Field and Description |
---|---|
protected RMIMotorPort |
rmi |
protected RMIEV3 |
rmiEV3 |
currentMode, openPorts, port, ref, typ
BACKWARD, FLOAT, FORWARD, MAX_POWER, PWM_BRAKE, PWM_FLOAT, STOP
BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW
ADC_REF, ADC_RES, CMD_AUTOMATIC, CMD_COL_AMB, CMD_COL_BLU, CMD_COL_COL, CMD_COL_GRN, CMD_COL_RED, CMD_CONNECTED, CMD_DISCONNECTED, CMD_FLOAT, CMD_NONE, CMD_PIN1, CMD_PIN5, CMD_SET, CONN_DAISYCHAIN, CONN_ERROR, CONN_INPUT_DUMB, CONN_INPUT_UART, CONN_NONE, CONN_NXT_COLOR, CONN_NXT_DUMB, CONN_NXT_IIC, CONN_OUTPUT_DUMB, CONN_OUTPUT_INTELLIGENT, CONN_OUTPUT_TACHO, CONN_UNKNOWN, IIC_DATA_LENGTH, MAX_DEVICE_DATALENGTH, MOTORS, PORTS, STATUS_BUSY, STATUS_FAIL, STATUS_OK, STATUS_STOP, TYPE_ERROR, TYPE_IIC_UNKNOWN, TYPE_MINITACHO, TYPE_NEWTACHO, TYPE_NONE, TYPE_NXT_COLOR, TYPE_NXT_IIC, TYPE_NXT_LIGHT, TYPE_NXT_SOUND, TYPE_NXT_TEST, TYPE_NXT_TOUCH, TYPE_TACHO, TYPE_TERMINAL, TYPE_THIRD_PARTY_END, TYPE_THIRD_PARTY_START, TYPE_UNKNOWN, UART_MAX_MODES
Constructor and Description |
---|
RemoteMotorPort(RMIEV3 rmiEV3) |
Modifier and Type | Method and Description |
---|---|
void |
close()
Close the port, the port can not be used after this call.
|
void |
controlMotor(int power,
int mode)
Low-level method to control a motor.
|
MotorRegulator |
getRegulator()
Return the motor regulator associated with this motor port.
|
int |
getTachoCount()
returns tachometer count
|
boolean |
open(int typ,
int portNum,
RemotePort remotePort) |
void |
resetTachoCount()
resets the tachometer count to 0;
|
void |
setPWMMode(int mode) |
getMode, getName, getType, setMode, setPinMode, setType, setTypeAndMode
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
getName, setPinMode
protected RMIMotorPort rmi
protected RMIEV3 rmiEV3
public RemoteMotorPort(RMIEV3 rmiEV3)
public boolean open(int typ, int portNum, RemotePort remotePort)
open
in class RemoteIOPort
public void controlMotor(int power, int mode)
controlMotor
in interface BasicMotorPort
power
- power from 0-100mode
- defined in BasicMotorPort
. 1=forward, 2=backward, 3=stop, 4=float.BasicMotorPort.FORWARD
,
BasicMotorPort.BACKWARD
,
BasicMotorPort.FLOAT
,
BasicMotorPort.STOP
public int getTachoCount()
getTachoCount
in interface Encoder
public void resetTachoCount()
resetTachoCount
in interface Encoder
public void setPWMMode(int mode)
setPWMMode
in interface BasicMotorPort
public void close()
IOPort
close
in interface java.io.Closeable
close
in interface java.lang.AutoCloseable
close
in interface IOPort
close
in class RemoteIOPort
public MotorRegulator getRegulator()
TachoMotorPort
getRegulator
in interface TachoMotorPort