lejos.nxt.remote
Class RemoteMotorPort

java.lang.Object
  lejos.nxt.remote.RemoteMotorPort

All Implemented Interfaces:

BasicMotorPort, NXTProtocol, TachoMotorPort, Encoder

public class RemoteMotorPort
extends Object
implements NXTProtocol, TachoMotorPort

Supports a motor connected to a remote NXT

Author:

Lawrie Griffiths

Field Summary

Fields inherited from interface lejos.nxt.remote.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_FIND_FIRST, NXJ_FIND_NEXT, NXJ_PACKET_MODE, 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.nxt.BasicMotorPort

PWM_BRAKE, PWM_FLOAT

Constructor Summary

RemoteMotorPort(NXTCommand nxtCommand, int id)

Method Summary

void	controlMotor(int power, int mode)
int	getTachoCount() Returns the tachometer count.
void	resetTachoCount() Reset the tachometer count.
void	setPWMMode(int mode)

Methods inherited from class java.lang.Object

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

Constructor Detail

RemoteMotorPort

public RemoteMotorPort(NXTCommand nxtCommand,
                       int id)

Method Detail

controlMotor

public void controlMotor(int power,
                         int mode)

Specified by:

controlMotor in interface BasicMotorPort

getTachoCount

public int getTachoCount()

Description copied from interface: Encoder

Returns the tachometer count.

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

resetTachoCount

public void resetTachoCount()

Description copied from interface: Encoder

Reset the tachometer count.

Specified by:

resetTachoCount in interface Encoder

setPWMMode

public void setPWMMode(int mode)

Specified by:

setPWMMode in interface BasicMotorPort