Package lejos.remote.ev3

Class RemoteMotorPort

java.lang.Object

lejos.remote.ev3.RemoteIOPort

lejos.remote.ev3.RemoteMotorPort

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, BasicMotorPort, BasicSensorPort, IOPort, TachoMotorPort, EV3SensorConstants, SensorConstants, Encoder

public class RemoteMotorPort
extends RemoteIOPort
implements TachoMotorPort

Field Summary

Fields

Modifier and Type	Field	Description
protected RMIMotorPort	rmi
protected RMIEV3	rmiEV3

Fields inherited from class lejos.remote.ev3.RemoteIOPort

currentMode, openPorts, port, ref, typ

Fields inherited from interface lejos.hardware.port.BasicMotorPort

BACKWARD, FLOAT, FORWARD, MAX_POWER, PWM_BRAKE, PWM_FLOAT, STOP

Fields inherited from interface lejos.hardware.sensor.EV3SensorConstants

ADC_REF, ADC_RES, CMD_AUTOMATIC, CMD_COL_AMB, CMD_COL_BLU, CMD_COL_COL, CMD_COL_GRN, CMD_COL_RED, CMD_CONNECTED, CMD_DISCONNECTED, CMD_FLOAT, CMD_NONE, CMD_PIN1, CMD_PIN5, CMD_SET, CONN_DAISYCHAIN, CONN_ERROR, CONN_INPUT_DUMB, CONN_INPUT_UART, CONN_NONE, CONN_NXT_COLOR, CONN_NXT_DUMB, CONN_NXT_IIC, CONN_OUTPUT_DUMB, CONN_OUTPUT_INTELLIGENT, CONN_OUTPUT_TACHO, CONN_UNKNOWN, IIC_DATA_LENGTH, MAX_DEVICE_DATALENGTH, MOTORS, PORTS, STATUS_BUSY, STATUS_FAIL, STATUS_OK, STATUS_STOP, TYPE_ERROR, TYPE_IIC_UNKNOWN, TYPE_MINITACHO, TYPE_NEWTACHO, TYPE_NONE, TYPE_NXT_COLOR, TYPE_NXT_IIC, TYPE_NXT_LIGHT, TYPE_NXT_SOUND, TYPE_NXT_TEST, TYPE_NXT_TOUCH, TYPE_TACHO, TYPE_TERMINAL, TYPE_THIRD_PARTY_END, TYPE_THIRD_PARTY_START, TYPE_UNKNOWN, UART_MAX_MODES

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
RemoteMotorPort(RMIEV3 rmiEV3)

Method Summary

Modifier and Type	Method	Description
void	close()	Close the port, the port can not be used after this call.
void	controlMotor(int power, int mode)	Low-level method to control a motor.
MotorRegulator	getRegulator()	Return the motor regulator associated with this motor port.
int	getTachoCount()	returns tachometer count
boolean	open(int typ, int portNum, RemotePort remotePort)
void	resetTachoCount()	resets the tachometer count to 0;
void	setPWMMode(int mode)

Methods inherited from class lejos.remote.ev3.RemoteIOPort

getMode, getName, getType, setMode, setPinMode, setType, setTypeAndMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface lejos.hardware.port.IOPort

getName, setPinMode

Field Detail

rmi

protected RMIMotorPort rmi

rmiEV3

protected RMIEV3 rmiEV3

Constructor Detail

RemoteMotorPort

public RemoteMotorPort(RMIEV3 rmiEV3)

Method Detail

open

public boolean open(int typ,
                    int portNum,
                    RemotePort remotePort)

Overrides:

open in class RemoteIOPort

controlMotor

public void controlMotor(int power,
                         int mode)

Low-level method to control a motor.

Specified by:

controlMotor in interface BasicMotorPort

Parameters:

power - power from 0-100

mode - defined in BasicMotorPort. 1=forward, 2=backward, 3=stop, 4=float.

See Also:

BasicMotorPort.FORWARD, BasicMotorPort.BACKWARD, BasicMotorPort.FLOAT, BasicMotorPort.STOP

getTachoCount

public int getTachoCount()

returns tachometer count

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

resetTachoCount

public void resetTachoCount()

resets the tachometer count to 0;

Specified by:

resetTachoCount in interface Encoder

setPWMMode

public void setPWMMode(int mode)

Specified by:

setPWMMode in interface BasicMotorPort

close

public void close()

Description copied from interface: IOPort

Close the port, the port can not be used after this call.

Specified by:

close in interface java.lang.AutoCloseable

Specified by:

close in interface java.io.Closeable

Specified by:

close in interface IOPort

Overrides:

close in class RemoteIOPort

getRegulator

public MotorRegulator getRegulator()

Description copied from interface: TachoMotorPort

Return the motor regulator associated with this motor port.

Specified by:

getRegulator in interface TachoMotorPort

Returns:

the motor regulator for this port.