josx.platform.rcx
Class Motor

java.lang.Object
  josx.platform.rcx.Motor

public class Motor

extends Object

Abstraction for a motor. Three instances of Motor are available: Motor.A, Motor.B and Motor.C. To control each motor use methods forward, backward, reverseDirection, stop and flt. To set each motor's power, use setPower.

Example:

   Motor.A.setPower(1);
   Motor.C.setPower(7);
   Motor.A.forward();
   Motor.C.forward();
   Thread.sleep (1000);
   Motor.A.stop();
   Motor.C.stop();
 

Field Summary

static Motor	A Motor A.
static Motor	B Motor B.
static Motor	C Motor C.

Method Summary

void	backward() Causes motor to rotate backwards.
static void	controlMotor(char aMotor, int aMode, int aPower) Deprecated. I've decided to remove this method. If you really need it, check its implementation in classes/josx/platform/rcx/Motor.java.
void	flt() Causes motor to float.
void	forward() Causes motor to rotate forward.
char	getId() Get the ID of the motor.
int	getPower() Returns the current motor power.
boolean	isBackward() Return true if motor is backward.
boolean	isFloating()
boolean	isForward() Return true if motor is forward.
boolean	isMoving()
boolean	isStopped() Return true if motor is stopped.
void	reverseDirection() Reverses direction of the motor.
void	setPower(int aPower) Sets motor power to a value between 0 and 7.
void	stop() Causes motor to stop, pretty much instantaneously.

Methods inherited from class java.lang.Object

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

Field Detail

A

public static final Motor A

Motor A.

B

public static final Motor B

Motor B.

C

public static final Motor C

Motor C.

Method Detail

getId

public final char getId()

Get the ID of the motor. One of 'A', 'B' or 'C'.

setPower

public final void setPower(int aPower)

Sets motor power to a value between 0 and 7.

forward

public final void forward()

Causes motor to rotate forward.

isForward

public final boolean isForward()

Return true if motor is forward.

backward

public final void backward()

Causes motor to rotate backwards.

isBackward

public final boolean isBackward()

Return true if motor is backward.

reverseDirection

public final void reverseDirection()

Reverses direction of the motor. It only has effect if the motor is moving.

getPower

public final int getPower()

Returns the current motor power.

isMoving

public final boolean isMoving()

Returns:

true iff the motor is currently in motion.

isFloating

public final boolean isFloating()

Returns:

true iff the motor is currently in float mode.

stop

public final void stop()

Causes motor to stop, pretty much instantaneously. In other words, the motor doesn't just stop; it will resist any further motion.

isStopped

public final boolean isStopped()

Return true if motor is stopped.

flt

public final 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.

controlMotor

public static void controlMotor(char aMotor,
                                int aMode,
                                int aPower)

Deprecated. I've decided to remove this method. If you really need it, check its implementation in classes/josx/platform/rcx/Motor.java.

Low-level API for controlling a motor. This method is not meant to be called directly. If called, other methods such as isRunning() will be unreliable.

Parameters:

aMotor - The motor id: 'A', 'B' or 'C'.

aMode - 1=forward, 2=backward, 3=stop, 4=float

aPower - A value in the range [0-7].