com.qualcomm.robotcore.hardware

Interface DcMotorController

All Superinterfaces:

HardwareDevice

public interface DcMotorController
extends HardwareDevice

Interface for working with DC Motor Controllers

Different DC motor controllers will implement this interface.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	DcMotorController.DeviceMode
static class	DcMotorController.RunMode

Method Summary

Methods

Modifier and Type	Method and Description
DcMotorController.RunMode	getMotorChannelMode(int motor) Get the current channel mode.
DcMotorController.DeviceMode	getMotorControllerDeviceMode() Get the current device mode (read, write, or read/write) Note: on USB devices, this will always return "READ_WRITE" mode.
int	getMotorCurrentPosition(int motor) Get the current motor position
double	getMotorPower(int motor) Get the current motor power
boolean	getMotorPowerFloat(int motor) Is motor power set to float?
int	getMotorTargetPosition(int motor) Get the current motor target position
boolean	isBusy(int motor) Is the motor busy?
void	setMotorChannelMode(int motor, DcMotorController.RunMode mode) Set the current channel mode.
void	setMotorControllerDeviceMode(DcMotorController.DeviceMode mode) Set the device into read, write, or read/write modes Note: If you are using the NxtDcMotorController, you need to switch the controller into "read" mode before doing a read, and into "write" mode before doing a write.
void	setMotorPower(int motor, double power) Set the current motor power
void	setMotorPowerFloat(int motor) Allow motor to float
void	setMotorTargetPosition(int motor, int position) Set the motor target position.

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getVersion

Method Detail

setMotorControllerDeviceMode

void setMotorControllerDeviceMode(DcMotorController.DeviceMode mode)

Set the device into read, write, or read/write modes Note: If you are using the NxtDcMotorController, you need to switch the controller into "read" mode before doing a read, and into "write" mode before doing a write. This is because the NxtDcMotorController is on the I2C interface, and can only do one at a time. If you are using the USBDcMotorController, there is no need to switch, because USB can handle reads and writes without changing modes. The NxtDcMotorControllers start up in "write" mode. This method does nothing on USB devices, but is needed on Nxt devices. The only modes the user should set are "READ_ONLY" and "WRITE_ONLY."

Parameters:

mode - device mode

getMotorControllerDeviceMode

DcMotorController.DeviceMode getMotorControllerDeviceMode()

Get the current device mode (read, write, or read/write) Note: on USB devices, this will always return "READ_WRITE" mode. On Nxt devices, it may return "READ_ONLY", "WRITE_ONLY", "SWITCHING_TO_READ_MODE", or "SWITCHING_TO_WRITE_MODE". This is because of the delay between asking the hardware to switch modes, and the modes actually being switched. Both "SWITCHING" modes simply communicate that delay to the user. The only modes the user should set are "READ_ONLY" and "WRITE_ONLY."

setMotorChannelMode

void setMotorChannelMode(int motor,
                       DcMotorController.RunMode mode)

Set the current channel mode. DcMotorController.RunMode

Parameters:

motor - port of motor

mode - run mode

getMotorChannelMode

DcMotorController.RunMode getMotorChannelMode(int motor)

Get the current channel mode. Returns the current "run mode".

Parameters:

motor - port of motor

Returns:

run mode

setMotorPower

void setMotorPower(int motor,
                 double power)

Set the current motor power

Parameters:

motor - port of motor

power - from -1.0 to 1.0

getMotorPower

double getMotorPower(int motor)

Get the current motor power

Parameters:

motor - port of motor

Returns:

scaled from -1.0 to 1.0

isBusy

boolean isBusy(int motor)

Is the motor busy?

Parameters:

motor - port of motor

Returns:

true if the motor is busy

setMotorPowerFloat

void setMotorPowerFloat(int motor)

Allow motor to float

Parameters:

motor - port of motor

getMotorPowerFloat

boolean getMotorPowerFloat(int motor)

Is motor power set to float?

Parameters:

motor - port of motor

Returns:

true of motor is set to float

setMotorTargetPosition

void setMotorTargetPosition(int motor,
                          int position)

Set the motor target position. This takes in an integer, which is not scaled. Motor power should be positive if using run to position

Parameters:

motor - port of motor

position - range from Integer.MIN_VALUE to Integer.MAX_VALUE

getMotorTargetPosition

int getMotorTargetPosition(int motor)

Get the current motor target position

Parameters:

motor - port of motor

Returns:

integer, unscaled

getMotorCurrentPosition

int getMotorCurrentPosition(int motor)

Get the current motor position

Parameters:

motor - port of motor

Returns:

integer, unscaled