lejos.nxt
Class MotorPort

java.lang.Object
  extended by lejos.nxt.MotorPort
All Implemented Interfaces:
BasicMotorPort, NXTProtocol, TachoMotorPort, Encoder

public class MotorPort
extends java.lang.Object
implements NXTProtocol, TachoMotorPort

This version of the MotorPort class supports a motor connected to a remote NXT

Author:
Lawrie Griffiths

Field Summary
static MotorPort A
           
static MotorPort B
           
static MotorPort C
           
 
Fields inherited from interface lejos.nxt.remote.NXTProtocol
ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_DEFRAG, NXJ_DISCONNECT, NXJ_GET_AUTO_RUN, NXJ_GET_DEFAULT_PROGRAM, NXJ_GET_KEY_CLICK_VOLUME, NXJ_GET_SLEEP_TIME, NXJ_GET_VERSION, NXJ_GET_VOLUME, NXJ_PACKET_MODE, NXJ_SET_AUTO_RUN, NXJ_SET_DEFAULT_PROGRAM, NXJ_SET_KEY_CLICK_VOLUME, NXJ_SET_SLEEP_TIME, NXJ_SET_VOLUME, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TRANSITIONCNTMODE, WRITE
 
Fields inherited from interface lejos.nxt.BasicMotorPort
BACKWARD, FLOAT, FORWARD, MAX_POWER, PWM_BRAKE, PWM_FLOAT, STOP
 
Constructor Summary
MotorPort(int id)
           
 
Method Summary
 void controlMotor(int power, int mode)
           
 int getTachoCount()
          Returns the tachometer count.
 void resetTachoCount()
          Reset the tachometer count.
 void setPWMMode(int mode)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

A

public static MotorPort A

B

public static MotorPort B

C

public static MotorPort C
Constructor Detail

MotorPort

public MotorPort(int id)
Method Detail

controlMotor

public void controlMotor(int power,
                         int mode)
Specified by:
controlMotor in interface BasicMotorPort

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

setPWMMode

public void setPWMMode(int mode)
Specified by:
setPWMMode in interface BasicMotorPort