Package lejos.remote.nxt
Class RemoteNXTMotorPort
- java.lang.Object
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- lejos.remote.nxt.RemoteNXTIOPort
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- lejos.remote.nxt.RemoteNXTMotorPort
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- All Implemented Interfaces:
java.io.Closeable,java.lang.AutoCloseable,BasicMotorPort,BasicSensorPort,IOPort,TachoMotorPort,EV3SensorConstants,SensorConstants,NXTProtocol,Encoder
public class RemoteNXTMotorPort extends RemoteNXTIOPort implements NXTProtocol, TachoMotorPort
Abstraction for an EV3 output port. TODO: Sort out a better way to do this, or least clean up the magic numbers.
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Field Summary
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Fields inherited from class lejos.remote.nxt.RemoteNXTIOPort
currentMode, dc, nxtCommand, openPorts, port, ref, typ
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Fields inherited from interface lejos.hardware.port.BasicMotorPort
BACKWARD, FLOAT, FORWARD, MAX_POWER, PWM_BRAKE, PWM_FLOAT, STOP
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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
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Fields inherited from interface lejos.remote.nxt.NXTProtocol
ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_DEFRAG, NXJ_DISCONNECT, NXJ_GET_AUTO_RUN, NXJ_GET_DEFAULT_PROGRAM, NXJ_GET_KEY_CLICK_VOLUME, NXJ_GET_SLEEP_TIME, NXJ_GET_VERSION, NXJ_GET_VOLUME, NXJ_PACKET_MODE, NXJ_SET_AUTO_RUN, NXJ_SET_DEFAULT_PROGRAM, NXJ_SET_KEY_CLICK_VOLUME, NXJ_SET_SLEEP_TIME, NXJ_SET_VOLUME, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TRANSITIONCNTMODE, WRITE
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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
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Constructor Summary
Constructors Constructor Description RemoteNXTMotorPort(NXTCommand nxtCommand)
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description voidcontrolMotor(int power, int mode)Low-level method to control a motor.MotorRegulatorgetRegulator()Return the motor regulator associated with this motor port.intgetTachoCount()returns tachometer countvoidresetTachoCount()resets the tachometer count to 0;voidsetPWMMode(int mode)-
Methods inherited from class lejos.remote.nxt.RemoteNXTIOPort
close, getMode, getName, getType, open, setMode, setPinMode, setType, setTypeAndMode
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Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface lejos.hardware.port.IOPort
close, getName, setPinMode
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Constructor Detail
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RemoteNXTMotorPort
public RemoteNXTMotorPort(NXTCommand nxtCommand)
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Method Detail
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controlMotor
public void controlMotor(int power, int mode)Low-level method to control a motor.- Specified by:
controlMotorin interfaceBasicMotorPort- Parameters:
power- power from 0-100mode- defined inBasicMotorPort. 1=forward, 2=backward, 3=stop, 4=float.- See Also:
BasicMotorPort.FORWARD,BasicMotorPort.BACKWARD,BasicMotorPort.FLOAT,BasicMotorPort.STOP
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getTachoCount
public int getTachoCount()
returns tachometer count- Specified by:
getTachoCountin interfaceEncoder- Returns:
- tachometer count in degrees
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resetTachoCount
public void resetTachoCount()
resets the tachometer count to 0;- Specified by:
resetTachoCountin interfaceEncoder
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setPWMMode
public void setPWMMode(int mode)
- Specified by:
setPWMModein interfaceBasicMotorPort
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getRegulator
public MotorRegulator getRegulator()
Description copied from interface:TachoMotorPortReturn the motor regulator associated with this motor port.- Specified by:
getRegulatorin interfaceTachoMotorPort- Returns:
- the motor regulator for this port.
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