lejos.nxt
Class BasicMotor

java.lang.Object
  lejos.nxt.BasicMotor

Direct Known Subclasses:

Motor, RCXMotor

public abstract class BasicMotor
extends Object

An abstraction for a motor without a tachometer, such as an RCX motor.

Author:

Lawrie Griffiths.

WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS. DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.

Field Summary

protected BasicMotorPort

_port

Constructor Summary

BasicMotor()

Method Summary

void	backward() Causes motor to rotate backwards.
void	flt() Causes motor to float.
void	forward() Causes motor to rotate forward.
int	getMode() Returns the mode.
int	getPower() Returns the current power setting.
boolean	isBackward() Return true if motor is backward.
boolean	isFloating() Returns true iff the motor is in float mode.
boolean	isForward() Return true if motor is forward.
boolean	isMoving() Returns true iff the motor is in motion.
boolean	isStopped() Return true if motor is stopped.
void	reverseDirection() Reverses direction of the motor.
void	setPower(int power) Sets power.
void	stop() Causes motor to stop, pretty much instantaneously.

Methods inherited from class java.lang.Object

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

Field Detail

_port

protected BasicMotorPort _port

Constructor Detail

BasicMotor

public BasicMotor()

Method Detail

setPower

public void setPower(int power)

Sets power.

Parameters:

power - power setting: 0 - 100

getPower

public int getPower()

Returns the current power setting.

Returns:

power value 0-100

forward

public void forward()

Causes motor to rotate forward.

isForward

public boolean isForward()

Return true if motor is forward.

backward

public void backward()

Causes motor to rotate backwards.

isBackward

public boolean isBackward()

Return true if motor is backward.

reverseDirection

public void reverseDirection()

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

isMoving

public boolean isMoving()

Returns true iff the motor is in motion.

Returns:

true iff the motor is currently in motion.

flt

public 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.

isFloating

public boolean isFloating()

Returns true iff the motor is in float mode.

Returns:

true iff the motor is currently in float mode.

stop

public void stop()

Causes motor to stop, pretty much instantaneously. In other words, the motor doesn't just stop; it will resist any further motion. Cancels any rotate() orders in progress

isStopped

public boolean isStopped()

Return true if motor is stopped.

getMode

public int getMode()

Returns the mode.

Returns:

mode 1=forward, 2=backward, 3=stopped, 4=floating