Package lejos.hardware.motor

Class BasicMotor

  • All Implemented Interfaces:
    java.io.Closeable, java.lang.AutoCloseable, BaseMotor, DCMotor
    Direct Known Subclasses:
    RCXMotor, UnregulatedMotor
    public abstract class BasicMotor
extends Device
implements DCMotor
    Abstraction for basic motor operations.
    Author:
    Lawrie Griffiths.

    • Constructor Summary

      Constructors 
      Constructor Description
      BasicMotor()  

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void backward()
      Causes motor to rotate backwards.
      void flt()
      Causes motor to float.
      void forward()
      Causes motor to rotate forward.
      int getPower()
      Returns the current motor power setting.
      boolean isMoving()
      Returns true iff the motor is in motion.
      void setPower​(int power)
      Set the power level 0%-100% to be applied to the motor
      void stop()
      Causes motor to stop, pretty much instantaneously.
      protected void updateState​(int newMode)
      Update the internal state tracking the motor direction

      • Methods inherited from class java.lang.Object

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

    • Field Detail

      • INVALID_MODE

        protected static int INVALID_MODE

      • mode

        protected int mode

      • power

        protected int power

    • Constructor Detail

      • BasicMotor

        public BasicMotor()

    • 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

      • updateState

        protected void updateState​(int newMode)
        Update the internal state tracking the motor direction
        Parameters:
        newMode -

      • forward

        public void forward()
        Causes motor to rotate forward.
        Specified by:
        forward in interface BaseMotor

      • backward

        public void backward()
        Causes motor to rotate backwards.
        Specified by:
        backward in interface BaseMotor

      • isMoving

        public boolean isMoving()
        Returns true iff the motor is in motion.
        Specified by:
        isMoving in interface BaseMotor
        Returns:
        true iff the motor is currently in motion.

      • flt

        public void flt()
        Causes motor to float. The motor will lose all power, but this is not the same as stopping. Use this method if you don't want your robot to trip in abrupt turns.
        Specified by:
        flt in interface BaseMotor

      • stop

        public void stop()
        Causes motor to stop, pretty much instantaneously. In other words, the motor doesn't just stop; it will resist any further motion. Cancels any rotate() orders in progress
        Specified by:
        stop in interface BaseMotor