Package lejos.hardware.motor

Class UnregulatedMotor

java.lang.Object

lejos.hardware.Device

lejos.hardware.motor.BasicMotor

lejos.hardware.motor.UnregulatedMotor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, BaseMotor, DCMotor, Encoder, EncoderMotor

public class UnregulatedMotor
extends BasicMotor
implements EncoderMotor

Abstraction for an NXT motor with no speed regulation.

Field Summary

Fields

Modifier and Type	Field	Description
protected Encoder	encoderPort

Fields inherited from class lejos.hardware.motor.BasicMotor

INVALID_MODE, mode, port, power

Fields inherited from class lejos.hardware.Device

closeList

Constructor Summary

Constructors

Constructor	Description
UnregulatedMotor(Port port)	Create an instance of a NXTMotor using the specified motor port the PWM operating mode will be PWM_BREAK BasicMotorPort.PWM_BRAKE
UnregulatedMotor(Port port, int PWMMode)	Create an instance of a NXTMotor using the specified motor port and PWM operating mode.
UnregulatedMotor(TachoMotorPort port)	Create an instance of a NXTMotor using the specified motor port the PWM operating mode will be PWM_BREAK BasicMotorPort.PWM_BRAKE
UnregulatedMotor(TachoMotorPort mport, int PWMMode)	Create an instance of a NXTMotor using the specified motor port and PWM operating mode.

Method Summary

Modifier and Type	Method	Description
int	getTachoCount()	Returns the tachometer count.
void	resetTachoCount()	Reset the tachometer count.

Methods inherited from class lejos.hardware.motor.BasicMotor

backward, flt, forward, getPower, isMoving, setPower, stop, updateState

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

Methods inherited from interface lejos.robotics.BaseMotor

backward, flt, forward, isMoving, stop

Methods inherited from interface lejos.robotics.DCMotor

getPower, setPower

Field Detail

encoderPort

protected Encoder encoderPort

Constructor Detail

UnregulatedMotor

public UnregulatedMotor(Port port,
                        int PWMMode)

Create an instance of a NXTMotor using the specified motor port and PWM operating mode.

Parameters:

port - The motor port that the motor will be attached to.

PWMMode - see BasicMotorPort.PWM_FLOAT and see BasicMotorPort.PWM_BRAKE

UnregulatedMotor

public UnregulatedMotor(Port port)

Create an instance of a NXTMotor using the specified motor port the PWM operating mode will be PWM_BREAK BasicMotorPort.PWM_BRAKE

Parameters:

port - The motor port that the motor will be attached to.

UnregulatedMotor

public UnregulatedMotor(TachoMotorPort mport,
                        int PWMMode)

Create an instance of a NXTMotor using the specified motor port and PWM operating mode.

Parameters:

mport - The motor port that the motor will be attached to.

PWMMode - see BasicMotorPort.PWM_FLOAT and see BasicMotorPort.PWM_BRAKE

UnregulatedMotor

public UnregulatedMotor(TachoMotorPort port)

Create an instance of a NXTMotor using the specified motor port the PWM operating mode will be PWM_BREAK BasicMotorPort.PWM_BRAKE

Parameters:

port - The motor port that the motor will be attached to.

Method Detail

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