lejos.nxt
Class NXTMotor

java.lang.Object
  lejos.nxt.BasicMotor
      lejos.nxt.NXTMotor

All Implemented Interfaces:

BaseMotor, DCMotor, Encoder, EncoderMotor

Direct Known Subclasses:

DSwitch

public class NXTMotor
extends BasicMotor
implements EncoderMotor

Abstraction for an NXT motor with no speed regulation.

Field Summary

protected Encoder

encoderPort

Fields inherited from class lejos.nxt.BasicMotor

INVALID_MODE, mode, port, power

Constructor Summary

NXTMotor(TachoMotorPort port)
Create an instance of a NXTMotor using the specified motor port the PWM operating mode will be PWM_BREAK BasicMotorPort.PWM_BRAKE

NXTMotor(TachoMotorPort port, int PWMMode)
Create an instance of a NXTMotor using the specified motor port and PWM operating mode.

Method Summary

int	getTachoCount() Returns the tachometer count.
void	resetTachoCount() Reset the tachometer count.

Methods inherited from class lejos.nxt.BasicMotor

backward, flt, forward, getPower, isMoving, setPower, stop, updateState

Methods inherited from class java.lang.Object

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

Methods inherited from interface lejos.robotics.DCMotor

getPower, setPower

Methods inherited from interface lejos.robotics.BaseMotor

backward, flt, forward, isMoving, stop

Field Detail

encoderPort

protected Encoder encoderPort

Constructor Detail

NXTMotor

public NXTMotor(TachoMotorPort port,
                int PWMMode)

Create an instance of a NXTMotor using the specified motor port and PWM operating mode.

Parameters:

port - The motor port that the motor will be attached to.

PWMMode - see BasicMotorPort.PWM_FLOAT and see BasicMotorPort.PWM_BRAKE

NXTMotor

public NXTMotor(TachoMotorPort port)

Create an instance of a NXTMotor using the specified motor port the PWM operating mode will be PWM_BREAK BasicMotorPort.PWM_BRAKE

Parameters:

port - The motor port that the motor will be attached to.

Method Detail

getTachoCount

public int getTachoCount()

Description copied from interface: Encoder

Returns the tachometer count.

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

resetTachoCount

public void resetTachoCount()

Description copied from interface: Encoder

Reset the tachometer count.

Specified by:

resetTachoCount in interface Encoder