Package lejos.remote.nxt

Class RemoteNXTMotorPort

java.lang.Object

lejos.remote.nxt.RemoteNXTIOPort

lejos.remote.nxt.RemoteNXTMotorPort

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.

Field Summary

Fields inherited from class lejos.remote.nxt.RemoteNXTIOPort

currentMode, dc, nxtCommand, 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.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

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
RemoteNXTMotorPort(NXTCommand nxtCommand)

Method Summary

Modifier and Type	Method	Description
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
void	resetTachoCount()	resets the tachometer count to 0;
void	setPWMMode(int mode)

Methods inherited from class lejos.remote.nxt.RemoteNXTIOPort

close, getMode, getName, getType, open, 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

close, getName, setPinMode

Constructor Detail

RemoteNXTMotorPort

public RemoteNXTMotorPort(NXTCommand nxtCommand)

Method Detail

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

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.