lejos.nxt
Class MotorPort

java.lang.Object
  lejos.nxt.MotorPort

All Implemented Interfaces:

BasicMotorPort, NXTProtocol, TachoMotorPort, Encoder

public class MotorPort
extends java.lang.Object
implements NXTProtocol, TachoMotorPort

This version of the MotorPort class supports a motor connected to a remote NXT

Author:

Lawrie Griffiths

Field Summary

static MotorPort	A
static MotorPort	B
static MotorPort	C

Fields inherited from interface lejos.nxt.remote.NXTProtocol

ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_DEFRAG, NXJ_DISCONNECT, NXJ_FIND_FIRST, NXJ_FIND_NEXT, NXJ_PACKET_MODE, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TRANSITIONCNTMODE, WRITE

Fields inherited from interface lejos.nxt.BasicMotorPort

PWM_BRAKE, PWM_FLOAT

Constructor Summary

MotorPort(int id)

Method Summary

void	controlMotor(int power, int mode)
int	getTachoCount() Returns the tachometer count.
void	resetTachoCount() Reset the tachometer count.
void	setPWMMode(int mode)

Methods inherited from class java.lang.Object

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

Field Detail

A

public static MotorPort A

B

public static MotorPort B

C

public static MotorPort C

Constructor Detail

MotorPort

public MotorPort(int id)

Method Detail

controlMotor

public void controlMotor(int power,
                         int mode)

Specified by:

controlMotor in interface BasicMotorPort

getTachoCount

public int getTachoCount()

Description copied from interface: Encoder

Returns the tachometer count.

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

resetTachoCount

public void resetTachoCount()

Description copied from interface: Encoder

Reset the tachometer count.

Specified by:

resetTachoCount in interface Encoder

setPWMMode

public void setPWMMode(int mode)

Specified by:

setPWMMode in interface BasicMotorPort