ukcrobots.simplecore
Class Motor

java.lang.Object
  |
  +--ukcrobots.simplecore.Motor

public class Motor

extends Object

Model a motor. Only one instance may be created for each output port. This class is based on josx.platform.rcx.Motor

Version:

2003.04.01

Field Summary

static int	DEVICE_MODE_BACKWARD
static int	DEVICE_MODE_FLOATING
static int	DEVICE_MODE_FORWARD
static int	DEVICE_MODE_STOPPED

Constructor Summary

Motor(char port)
Create a motor.

Method Summary

void	backward() Causes the device to rotate backwards.
void	flt() Causes the motor to float.
void	forward() Causes the device to rotate forward.
int	getMode() Return one of the following values: DEVICE_MODE_STOPPED - the device is stopped DEVICE_MODE_FORWARD - the device is running forward DEVICE_MODE_BACKWARD - the device is running backward DEVICE_MODE_FLOATING - the device is floating
int	getPower() Returns the motor's current power level.
boolean	isBackward()
boolean	isFloating()
boolean	isForward()
boolean	isMoving()
boolean	isStopped()
void	reverse() Reverses direction of the device.
void	setPower(int power) Sets power to a value between 0 and 7.
void	stop() Causes the motor to stop, pretty much instantaneously.

Methods inherited from class java.lang.Object

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

Field Detail

DEVICE_MODE_FORWARD

public static final int DEVICE_MODE_FORWARD

See Also:

Constant Field Values

DEVICE_MODE_BACKWARD

public static final int DEVICE_MODE_BACKWARD

See Also:

Constant Field Values

DEVICE_MODE_STOPPED

public static final int DEVICE_MODE_STOPPED

See Also:

Constant Field Values

DEVICE_MODE_FLOATING

public static final int DEVICE_MODE_FLOATING

See Also:

Constant Field Values

Constructor Detail

Motor

public Motor(char port)
      throws NoSuchDeviceException,
             AlreadyCreatedException

Create a motor.

Parameters:

port - Which output port the motor is attached to. This should have a value of 'A', 'B', or 'C'.

Throws:

NoSuchDeviceException - If the value of id is incorrect.

AlreadyCreatedException - If a Motor has already been created for this output port.

Method Detail

setPower

public void setPower(int power)

Sets power to a value between 0 and 7.

forward

public void forward()

Causes the device to rotate forward.

backward

public void backward()

Causes the device to rotate backwards.

reverse

public void reverse()

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

getPower

public int getPower()

Returns the motor's current power level.

getMode

public int getMode()

Return one of the following values: DEVICE_MODE_STOPPED - the device is stopped DEVICE_MODE_FORWARD - the device is running forward DEVICE_MODE_BACKWARD - the device is running backward DEVICE_MODE_FLOATING - the device is floating

Returns:

The mode this device is in.

stop

public void stop()

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

flt

public void flt()

Causes the motor to float. The motor will lose all power, but this is not the same as stopping.

isMoving

public boolean isMoving()

Returns:

true iff the device is currently in motion.

isForward

public boolean isForward()

Returns:

true iff the motor is currently moving forward.

isBackward

public boolean isBackward()

Returns:

true iff the motor is currently moving backward.

isFloating

public boolean isFloating()

Returns:

true iff the motor is currently in float mode.

isStopped

public boolean isStopped()

Returns:

true iff the motor is currently in float mode.