lejos.nxt
Class MotorPort

java.lang.Object
  lejos.nxt.MotorPort

All Implemented Interfaces:

BasicMotorPort, TachoMotorPort, Encoder

public class MotorPort
extends Object
implements TachoMotorPort

Abstraction for a NXT output port.

Field Summary

static MotorPort	A MotorPort A.
static MotorPort	B MotorPort B.
static MotorPort	C MotorPort C.

Fields inherited from interface lejos.nxt.BasicMotorPort

PWM_BRAKE, PWM_FLOAT

Method Summary

void	controlMotor(int power, int mode) Low-level method to control a motor.
int	getTachoCount() returns tachometer count
static int	getTachoCountById(int aMotor)
void	resetTachoCount() resets the tachometer count to 0;
static void	resetTachoCountById(int aMotor)
void	setPWMMode(int mode)

Methods inherited from class java.lang.Object

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

Field Detail

A

public static final MotorPort A

MotorPort A.

B

public static final MotorPort B

MotorPort B.

C

public static final MotorPort C

MotorPort C.

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 - 1=forward, 2=backward, 3=stop, 4=float

getTachoCount

public int getTachoCount()

returns tachometer count

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

getTachoCountById

public static int getTachoCountById(int aMotor)

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

resetTachoCountById

public static void resetTachoCountById(int aMotor)