com.qualcomm.robotcore.hardware

Class DcMotorImpl

java.lang.Object

com.qualcomm.robotcore.hardware.DcMotorImpl

All Implemented Interfaces:

DcMotor, DcMotorSimple, HardwareDevice

Direct Known Subclasses:

DcMotorImplEx

public class DcMotorImpl
extends java.lang.Object
implements DcMotor

Control a DC Motor attached to a DC Motor Controller

See Also:

DcMotorController

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotor

DcMotor.RunMode, DcMotor.ZeroPowerBehavior

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotorSimple

DcMotorSimple.Direction

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected DcMotorController	controller
protected DcMotorSimple.Direction	direction
protected MotorConfigurationType	motorType
protected int	portNumber

Constructor Summary

Constructors

Constructor and Description
DcMotorImpl(DcMotorController controller, int portNumber) Constructor
DcMotorImpl(DcMotorController controller, int portNumber, DcMotorSimple.Direction direction) Constructor
DcMotorImpl(DcMotorController controller, int portNumber, DcMotorSimple.Direction direction, MotorConfigurationType motorType) Constructor

Method Summary

Modifier and Type	Method and Description
protected int	adjustPosition(int position)
protected double	adjustPower(double power)
void	close() Closes this device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
DcMotorController	getController() Get DC motor controller
int	getCurrentPosition() Get the current encoder value, accommodating the configured directionality of the motor.
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
DcMotorSimple.Direction	getDirection() Get the direction
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
DcMotor.RunMode	getMode() Get the current mode
MotorConfigurationType	getMotorType() Returns the assigned type for this motor.
protected DcMotorSimple.Direction	getOperationalDirection()
int	getPortNumber() Get port number
double	getPower() Get the current motor power
boolean	getPowerFloat() Is motor power set to float?
int	getTargetPosition() Get the current motor target position.
int	getVersion() Version
DcMotor.ZeroPowerBehavior	getZeroPowerBehavior() Returns the current behavior of the motor were a power level of zero to be applied.
protected void	internalSetMode(DcMotor.RunMode mode)
protected void	internalSetPower(double power)
protected void	internalSetTargetPosition(int position)
boolean	isBusy() Is the motor busy?
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	setDirection(DcMotorSimple.Direction direction) Set the direction
void	setMode(DcMotor.RunMode mode) Set the current mode
void	setMotorType(MotorConfigurationType motorType) Sets the assigned type of this motor.
void	setPower(double power) Set the current motor power
void	setPowerFloat() Deprecated.
void	setTargetPosition(int position) Set the motor target position, using an integer.
void	setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior) Sets the behavior of the motor when a power level of zero is applied.

Methods inherited from class java.lang.Object

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

Field Detail

controller

protected DcMotorController controller

portNumber

protected int portNumber

direction

protected DcMotorSimple.Direction direction

motorType

protected MotorConfigurationType motorType

Constructor Detail

DcMotorImpl

public DcMotorImpl(DcMotorController controller,
                   int portNumber)

Constructor

Parameters:

controller - DC motor controller this motor is attached to

portNumber - portNumber position on the controller

DcMotorImpl

public DcMotorImpl(DcMotorController controller,
                   int portNumber,
                   DcMotorSimple.Direction direction)

Constructor

Parameters:

controller - DC motor controller this motor is attached to

portNumber - portNumber port number on the controller

direction - direction this motor should spin

DcMotorImpl

public DcMotorImpl(DcMotorController controller,
                   int portNumber,
                   DcMotorSimple.Direction direction,
                   MotorConfigurationType motorType)

Constructor

Parameters:

controller - DC motor controller this motor is attached to

portNumber - portNumber port number on the controller

direction - direction this motor should spin

motorType - the type we know this motor to be

Method Detail

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

getMotorType

public MotorConfigurationType getMotorType()

Description copied from interface: DcMotor

Returns the assigned type for this motor. If no particular motor type has been configured, then MotorConfigurationType.getUnspecifiedMotorType() will be returned. Note that the motor type for a given motor is initially assigned in the robot configuration user interface, though it may subsequently be modified using methods herein.

Specified by:

getMotorType in interface DcMotor

Returns:

the assigned type for this motor

setMotorType

public void setMotorType(MotorConfigurationType motorType)

Description copied from interface: DcMotor

Sets the assigned type of this motor. Usage of this method is very rare.

Specified by:

setMotorType in interface DcMotor

Parameters:

motorType - the new assigned type for this motor

See Also:

DcMotor.getMotorType()

getController

public DcMotorController getController()

Get DC motor controller

Specified by:

getController in interface DcMotor

Returns:

controller

See Also:

DcMotor.getPortNumber()

setDirection

public void setDirection(DcMotorSimple.Direction direction)

Set the direction

Specified by:

setDirection in interface DcMotorSimple

Parameters:

direction - direction

See Also:

DcMotorSimple.getDirection()

getDirection

public DcMotorSimple.Direction getDirection()

Get the direction

Specified by:

getDirection in interface DcMotorSimple

Returns:

direction

See Also:

DcMotorSimple.setDirection(Direction)

getPortNumber

public int getPortNumber()

Get port number

Specified by:

getPortNumber in interface DcMotor

Returns:

portNumber

See Also:

DcMotor.getController()

setPower

public void setPower(double power)

Set the current motor power

Specified by:

setPower in interface DcMotorSimple

Parameters:

power - from -1.0 to 1.0

See Also:

DcMotorSimple.getPower(), DcMotor.setMode(DcMotor.RunMode), DcMotor.setPowerFloat()

internalSetPower

protected void internalSetPower(double power)

getPower

public double getPower()

Get the current motor power

Specified by:

getPower in interface DcMotorSimple

Returns:

scaled from -1.0 to 1.0

See Also:

DcMotorSimple.setPower(double)

isBusy

public boolean isBusy()

Is the motor busy?

Specified by:

isBusy in interface DcMotor

Returns:

true if the motor is busy

See Also:

DcMotor.setTargetPosition(int)

setZeroPowerBehavior

public void setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior)

Description copied from interface: DcMotor

Sets the behavior of the motor when a power level of zero is applied.

Specified by:

setZeroPowerBehavior in interface DcMotor

Parameters:

zeroPowerBehavior - the new behavior of the motor when a power level of zero is applied.

See Also:

DcMotor.ZeroPowerBehavior, DcMotorSimple.setPower(double)

getZeroPowerBehavior

public DcMotor.ZeroPowerBehavior getZeroPowerBehavior()

Description copied from interface: DcMotor

Returns the current behavior of the motor were a power level of zero to be applied.

Specified by:

getZeroPowerBehavior in interface DcMotor

Returns:

the current behavior of the motor were a power level of zero to be applied.

setPowerFloat

@Deprecated
public void setPowerFloat()

Deprecated.

Allow motor to float

Specified by:

setPowerFloat in interface DcMotor

See Also:

DcMotorSimple.setPower(double), DcMotor.getPowerFloat(), DcMotor.setZeroPowerBehavior(ZeroPowerBehavior)

getPowerFloat

public boolean getPowerFloat()

Is motor power set to float?

Specified by:

getPowerFloat in interface DcMotor

Returns:

true of motor is set to float

See Also:

DcMotor.setPowerFloat()

setTargetPosition

public void setTargetPosition(int position)

Set the motor target position, using an integer. If this motor has been set to REVERSE, the passed-in "position" value will be multiplied by -1.

Specified by:

setTargetPosition in interface DcMotor

Parameters:

position - range from Integer.MIN_VALUE to Integer.MAX_VALUE

See Also:

DcMotor.getCurrentPosition(), DcMotor.setMode(RunMode), DcMotor.RunMode.RUN_TO_POSITION, DcMotor.getTargetPosition(), DcMotor.isBusy()

internalSetTargetPosition

protected void internalSetTargetPosition(int position)

getTargetPosition

public int getTargetPosition()

Get the current motor target position. If this motor has been set to REVERSE, the returned "position" will be multiplied by -1.

Specified by:

getTargetPosition in interface DcMotor

Returns:

integer, unscaled

See Also:

DcMotor.setTargetPosition(int)

getCurrentPosition

public int getCurrentPosition()

Get the current encoder value, accommodating the configured directionality of the motor.

Specified by:

getCurrentPosition in interface DcMotor

Returns:

double indicating current position

See Also:

DcMotor.getTargetPosition(), DcMotor.RunMode.STOP_AND_RESET_ENCODER

adjustPosition

protected int adjustPosition(int position)

adjustPower

protected double adjustPower(double power)

getOperationalDirection

protected DcMotorSimple.Direction getOperationalDirection()

setMode

public void setMode(DcMotor.RunMode mode)

Set the current mode

Specified by:

setMode in interface DcMotor

Parameters:

mode - run mode

See Also:

DcMotor.RunMode, DcMotor.getMode()

internalSetMode

protected void internalSetMode(DcMotor.RunMode mode)

getMode

public DcMotor.RunMode getMode()

Get the current mode

Specified by:

getMode in interface DcMotor

Returns:

run mode

See Also:

DcMotor.RunMode, DcMotor.setMode(RunMode)