java.lang.Object
- lejos.hardware.device.tetrix.TetrixMotor

All Implemented Interfaces:

BaseMotor, DCMotor

Direct Known Subclasses:

TetrixEncoderMotor
```
public class TetrixMotor
extends java.lang.Object
implements DCMotor
```
Tetrix basic DC motor abstraction without encoder support. The default power at instantiation is 100%.
Use TetrixMotorController.getBasicMotor(int) to retrieve a TetrixMotor instance.

Author:

Kirk P. Thompson

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`backward()`	Causes motor to rotate backwards until `stop()` or `flt()` is called.
`void`	`flt()`	Motor loses all power, causing the rotor to float freely to a stop.
`void`	`forward()`	Causes motor to rotate forward until `stop()` or `flt()` is called.
`int`	`getPower()`	Returns the current motor power setting.
`boolean`	`isMoving()`	Return `true` if the motor is moving.
`void`	`setPower(int power)`	Set the power level 0%-100% to be applied to the motor
`void`	`setReverse(boolean reverse)`	Used to alter the forward/reverse direction mapping for the motor output.
`void`	`stop()`	Causes motor to stop immediately.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Method Detail
  - setPower
```
public void setPower(int power)
```
    Description copied from interface: DCMotor
    
    Set the power level 0%-100% to be applied to the motor
    
    Specified by:
    
    setPower in interface DCMotor
    
    Parameters:
    
    power - new motor power 0-100
  - getPower
```
public int getPower()
```
    Description copied from interface: DCMotor
    
    Returns the current motor power setting.
    
    Specified by:
    
    getPower in interface DCMotor
    
    Returns:
    
    current power 0-100
  - forward
```
public void forward()
```
    Description copied from interface: BaseMotor
    
    Causes motor to rotate forward until stop() or flt() is called.
    
    Specified by:
    
    forward in interface BaseMotor
  - backward
```
public void backward()
```
    Description copied from interface: BaseMotor
    
    Causes motor to rotate backwards until stop() or flt() is called.
    
    Specified by:
    
    backward in interface BaseMotor
  - stop
```
public void stop()
```
    Description copied from interface: BaseMotor
    
    Causes motor to stop immediately. It will resist any further motion. Cancels any rotate() orders in progress.
    
    Specified by:
    
    stop in interface BaseMotor
  - flt
```
public void flt()
```
    Description copied from interface: BaseMotor
    
    Motor loses all power, causing the rotor to float freely to a stop. This is not the same as stopping, which locks the rotor.
    
    Specified by:
    
    flt in interface BaseMotor
  - isMoving
```
public boolean isMoving()
```
    Return true if the motor is moving. Note that this method reports based on the current control state (i.e. commanded to move) and not if the motor is actually moving. This means a motor may be stalled but this method would return true.
    
    Specified by:
    
    isMoving in interface BaseMotor
    
    Returns:
    
    true if the motor is executing a movement command, false if stopped.
  - setReverse
```
public void setReverse(boolean reverse)
```
    Used to alter the forward/reverse direction mapping for the motor output. This is primarily intended to harmonize the forward and reverse directions for motors on opposite sides of a skid-steer chassis.
    Changes to this setting take effect on the next motor command.
    
    Parameters:
    
    reverse - true to reverse direction mapping for this motor

Class TetrixMotor

Method Summary

Methods inherited from class java.lang.Object

Method Detail

setPower

getPower

forward

backward

stop

flt

isMoving

setReverse