Package lejos.hardware.device.tetrix

Class TetrixMotorController

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.tetrix.TetrixMotorController

All Implemented Interfaces:

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

public class TetrixMotorController
extends I2CSensor

HiTechnic Tetrix Motor Controller abstraction. Provides TetrixMotor and TetrixEncoderMotor instances which are used to control the Tetrix motors.

Use TetrixControllerFactory.newMotorController() to retrieve a TetrixMotorController instance.

Author:

Kirk P. Thompson

See Also:

TetrixControllerFactory, TetrixMotor, TetrixEncoderMotor

Field Summary

Fields

Modifier and Type	Field	Description
static int	MOTOR_1	Represents Motor 1 as indicated on the controller
static int	MOTOR_2	Represents Motor 2 as indicated on the controller

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
TetrixMotorController(I2CPort port, int daisyChainPosition)	Instantiate a HiTechnic TETRIX Motor Controller connected to the given port and daisy chain position.

Method Summary

Modifier and Type	Method	Description
TetrixMotor	getBasicMotor(int motorID)	Get a TetrixMotor instance that is associated with the motorID.
TetrixEncoderMotor	getEncoderMotor(int motorID)	Get a TetrixEncoderMotor instance that is associated with the motorID.
TetrixRegulatedMotor	getRegulatedMotor(int motorID)	Get a TetrixRegulatedMotor instance that is associated with the motorID.
float	getVoltage()	Return the current battery voltage supplied to the controller.

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, getName, 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

MOTOR_1

public static final int MOTOR_1

Represents Motor 1 as indicated on the controller

See Also:

Constant Field Values

MOTOR_2

public static final int MOTOR_2

Represents Motor 2 as indicated on the controller

See Also:

Constant Field Values

Constructor Detail

TetrixMotorController

public TetrixMotorController(I2CPort port,
                             int daisyChainPosition)

Instantiate a HiTechnic TETRIX Motor Controller connected to the given port and daisy chain position.

Parameters:

port - The sensor port the controller (if daisy-chained, the first) is connected to.

daisyChainPosition - The position of the controller in the daisy chain.

Throws:

java.lang.IllegalStateException - if a Motor Controller was not found with given port and daisyChainPosition

See Also:

TetrixControllerFactory.DAISY_CHAIN_POSITION_1, TetrixControllerFactory.DAISY_CHAIN_POSITION_2, TetrixControllerFactory.DAISY_CHAIN_POSITION_3, TetrixControllerFactory.DAISY_CHAIN_POSITION_4

Method Detail

getBasicMotor

public TetrixMotor getBasicMotor(int motorID)

Get a TetrixMotor instance that is associated with the motorID.

Parameters:

motorID - The motor ID number. This is indicated on the HiTechnic Motor Controller and is represented using MOTOR_1 or MOTOR_2.

Returns:

The TetrixMotor instance

Throws:

java.lang.IllegalArgumentException - if invalid motorID

java.lang.UnsupportedOperationException - if motorID has already been used for a Tetrix motor instance other than TetrixMotor.

See Also:

TetrixMotor, getEncoderMotor(int), getRegulatedMotor(int)

getEncoderMotor

public TetrixEncoderMotor getEncoderMotor(int motorID)

Get a TetrixEncoderMotor instance that is associated with the motorID. The motor must have an encoder installed for a TetrixEncoderMotor instance to work correctly.

Parameters:

motorID - The motor ID number. This is indicated on the HiTechnic Motor Controller and is represented using MOTOR_1 or MOTOR_2.

Returns:

The TetrixEncoderMotor instance

Throws:

java.lang.IllegalArgumentException - if invalid motorID

java.lang.UnsupportedOperationException - if motorID has already been used for a Tetrix motor instance other than TetrixEncoderMotor.

See Also:

TetrixEncoderMotor, getBasicMotor(int), getRegulatedMotor(int)

getRegulatedMotor

public TetrixRegulatedMotor getRegulatedMotor(int motorID)

Get a TetrixRegulatedMotor instance that is associated with the motorID. The motor must have an encoder installed for a TetrixRegulatedMotor instance to work correctly.

Parameters:

motorID - The motor ID number. This is indicated on the HiTechnic Motor Controller and is represented using MOTOR_1 or MOTOR_2.

Returns:

The TetrixRegulatedMotor instance

Throws:

java.lang.IllegalArgumentException - if invalid motorID

java.lang.UnsupportedOperationException - if motorID has already been used for a Tetrix motor instance other than TetrixRegulatedMotor.

See Also:

TetrixRegulatedMotor, getBasicMotor(int), getEncoderMotor(int)

getVoltage

public float getVoltage()

Return the current battery voltage supplied to the controller.

Returns:

The current battery voltage in volts