Package lejos.hardware.device

Class LMotor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.LMotor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, SampleProvider

Direct Known Subclasses:

LDCMotor, LServo

public class LMotor
extends I2CSensor

Generic abstraction to manage RC Servos and DC Motor. LServo and LDCMotor uses inherits from this class

Author:

Juan Antonio Brenha Moral

Field Summary

Fields

Modifier and Type	Field	Description
static int[]	arrMotorLoad
static int[]	arrMotorUnload
protected int	LSC_position
protected byte	SPI_PORT

Fields inherited from class lejos.hardware.sensor.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

Constructors

Constructor	Description
LMotor(I2CPort port, int location, java.lang.String name, byte SPI_PORT)	Constructor
LMotor(Port port, int location, java.lang.String name, byte SPI_PORT)	Constructor

Method Summary

Modifier and Type	Method	Description
java.lang.String	getName()	Get name from a RC Servo or a DC Motor
protected int	getPulse()	This method return current pulse over a RC Servo or a DC Motor.
boolean	isMoving()	Method to know if Servo is moving to a determinated angle
void	load()	Load Servo located in a position X
void	setDelay(int delay)	Set a delay in a Motor
protected void	setPulse(int pulse)	This class set the Pulse over a RC Servo or a DC Motor
void	unload()

Methods inherited from class lejos.hardware.sensor.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

LSC_position

protected int LSC_position

SPI_PORT

protected byte SPI_PORT

arrMotorUnload

public static final int[] arrMotorUnload

arrMotorLoad

public static final int[] arrMotorLoad

Constructor Detail

LMotor

public LMotor(I2CPort port,
              int location,
              java.lang.String name,
              byte SPI_PORT)

Constructor

Parameters:

port - the port

location - the location

name - the name of the servo

SPI_PORT - the SPI port

LMotor

public LMotor(Port port,
              int location,
              java.lang.String name,
              byte SPI_PORT)

Constructor

Parameters:

port - the port

location - the location

name - the name of the servo

SPI_PORT - the SPI port

Method Detail

isMoving

public boolean isMoving()

Method to know if Servo is moving to a determinated angle

Returns:

true iff the servo is moving

setDelay

public void setDelay(int delay)

Set a delay in a Motor

Parameters:

delay - the delay

unload

public void unload()

load

public void load()

Load Servo located in a position X

getName

public java.lang.String getName()

Get name from a RC Servo or a DC Motor

Specified by:

getName in interface SensorMode

Overrides:

getName in class BaseSensor

Returns:

The description/name of this mode

setPulse

protected void setPulse(int pulse)

This class set the Pulse over a RC Servo or a DC Motor

Parameters:

pulse -

getPulse

protected int getPulse()

This method return current pulse over a RC Servo or a DC Motor. This method is used internally by LDCMotor Objects or LServo Objects to get the speed or angle.

Returns:

the pulse