rcx.rcxdirect
Class Motor

java.lang.Object
  rcx.rcxdirect.DirectSend
      rcx.rcxdirect.Motor

public class Motor
extends DirectSend

Abstraction for a motor. Three instances of Motor are available: Motor.A, Motor.B and Motor.C. To control each motor use methods forward, backward, reverseDirection, stop and flt. To set each motor's power, use setPower.

Example:

   Motor.A.setPower(1);
   Motor.C.setPower(7);
   Motor.A.forward();
   Motor.C.forward();
   Thread.sleep (1000);
   Motor.A.stop();
   Motor.C.stop();
 

Field Summary

static Motor	A Motor A.
static Motor	B Motor B.
static Motor	C Motor C.

Constructor Summary

Motor(int aId)

Method Summary

void	backward() Causes motor to rotate backwards.
void	controlMotor(int aMotor, int aState)
void	controlMotorPower(int aMotor, int aValue)
void	flt() Causes motor to float.
void	forward() Causes motor to rotate forward.
int	getPower() Returns the current motor power.
void	setPower(int aPower) Sets motor power to a value between 0 and 7.
void	stop() Causes motor to stop, pretty much instantaneously.

Methods inherited from class rcx.rcxdirect.DirectSend

getStream, getTimeout, getTimeoutStatic, init, lastResult, lastResultStatic, sendToRCX

Methods inherited from class java.lang.Object

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

Field Detail

A

public static final Motor A

Motor A.

B

public static final Motor B

Motor B.

C

public static final Motor C

Motor C.

Constructor Detail

Motor

public Motor(int aId)

Method Detail

setPower

public final void setPower(int aPower)

Sets motor power to a value between 0 and 7.

Parameters:

aPower - A value in the range [0-7].

getPower

public final int getPower()

Returns the current motor power.

forward

public final void forward()

Causes motor to rotate forward.

backward

public final void backward()

Causes motor to rotate backwards.

stop

public final void stop()

Causes motor to stop, pretty much instantaneously. In other words, the motor doesn't just stop; it will resist any further motion.

flt

public final void flt()

Causes motor to float. The motor will lose all power, but this is not the same as stopping. Use this method if you don't want your robot to trip in abrupt turns.

controlMotor

public void controlMotor(int aMotor,
                         int aState)

controlMotorPower

public void controlMotorPower(int aMotor,
                              int aValue)