com.qualcomm.robotcore.hardware

Class DcMotor

java.lang.Object

com.qualcomm.robotcore.hardware.DcMotor

All Implemented Interfaces:

HardwareDevice

public class DcMotor
extends java.lang.Object
implements HardwareDevice

Control a DC Motor attached to a DC Motor Controller

See Also:

DcMotorController

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DcMotor.Direction Motor direction

Field Summary

Fields

Modifier and Type	Field and Description
protected DcMotorController	controller
protected DcMotorController.DeviceMode	devMode
protected DcMotor.Direction	direction
protected DcMotorController.RunMode	mode
protected int	portNumber

Constructor Summary

Constructors

Constructor and Description
DcMotor(DcMotorController controller, int portNumber) Constructor
DcMotor(DcMotorController controller, int portNumber, DcMotor.Direction direction) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
void	close() Close this device
DcMotorController.RunMode	getChannelMode() Deprecated.
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
DcMotorController	getController() Get DC motor controller
int	getCurrentPosition() Get the current encoder value.
java.lang.String	getDeviceName() Device Name
DcMotor.Direction	getDirection() Get the direction
DcMotorController.RunMode	getMode() Get the current mode
int	getPortNumber() Get port number
double	getPower() Get the current motor power
boolean	getPowerFloat() Is motor power set to float?
int	getTargetPosition() Get the current motor target position.
int	getVersion() Version
boolean	isBusy() Is the motor busy?
void	setChannelMode(DcMotorController.RunMode mode) Deprecated.
void	setDirection(DcMotor.Direction direction) Set the direction
void	setMode(DcMotorController.RunMode mode) Set the current mode
void	setPower(double power) Set the current motor power
void	setPowerFloat() Allow motor to float
void	setTargetPosition(int position) Set the motor target position, using an integer.

Methods inherited from class java.lang.Object

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

Field Detail

direction

protected DcMotor.Direction direction

controller

protected DcMotorController controller

portNumber

protected int portNumber

mode

protected DcMotorController.RunMode mode

devMode

protected DcMotorController.DeviceMode devMode

Constructor Detail

DcMotor

public DcMotor(DcMotorController controller,
       int portNumber)

Constructor

Parameters:

controller - DC motor controller this motor is attached to

portNumber - portNumber position on the controller

DcMotor

public DcMotor(DcMotorController controller,
       int portNumber,
       DcMotor.Direction direction)

Constructor

Parameters:

controller - DC motor controller this motor is attached to

portNumber - portNumber port number on the controller

direction - direction this motor should spin

Method Detail

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Device Name

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

close

public void close()

Description copied from interface: HardwareDevice

Close this device

Specified by:

close in interface HardwareDevice

getController

public DcMotorController getController()

Get DC motor controller

Returns:

controller

setDirection

public void setDirection(DcMotor.Direction direction)

Set the direction

Parameters:

direction - direction

getDirection

public DcMotor.Direction getDirection()

Get the direction

Returns:

direction

getPortNumber

public int getPortNumber()

Get port number

Returns:

portNumber

setPower

public void setPower(double power)

Set the current motor power

Parameters:

power - from -1.0 to 1.0

getPower

public double getPower()

Get the current motor power

Returns:

scaled from -1.0 to 1.0

isBusy

public boolean isBusy()

Is the motor busy?

Returns:

true if the motor is busy

setPowerFloat

public void setPowerFloat()

Allow motor to float

getPowerFloat

public boolean getPowerFloat()

Is motor power set to float?

Returns:

true of motor is set to float

setTargetPosition

public void setTargetPosition(int position)

Set the motor target position, using an integer. If this motor has been set to REVERSE, the passed-in "position" value will be multiplied by -1.

Parameters:

position - range from Integer.MIN_VALUE to Integer.MAX_VALUE

getTargetPosition

public int getTargetPosition()

Get the current motor target position. If this motor has been set to REVERSE, the returned "position" will be multiplied by -1.

Returns:

integer, unscaled

getCurrentPosition

public int getCurrentPosition()

Get the current encoder value. If this motor has been set to REVERSE, the returned "position" will be multiplied by -1.

Returns:

double indicating current position

setMode

public void setMode(DcMotorController.RunMode mode)

Set the current mode

Parameters:

mode - run mode

getMode

public DcMotorController.RunMode getMode()

Get the current mode

Returns:

run mode

setChannelMode

@Deprecated
public void setChannelMode(DcMotorController.RunMode mode)

Deprecated.

Set the current mode Deprecated; use setMode()

Parameters:

mode - run mode

getChannelMode

@Deprecated
public DcMotorController.RunMode getChannelMode()

Deprecated.

Get the current mode Deprecated; use getMode()

Returns:

run mode