ShefRobot

Class Motor

java.lang.Object

ShefRobot.Motor

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

LargeMotor, MediumMotor

public abstract class Motor
extends Object

This class represents a generic motor, it is must be instantiated as a subclass of the correct motor model (Large or Medium). This allows the motor objects to be calibrated correctly. Any methods called on the same Motor will occur in order unless a method is otherwise stated as being asynchronous

See Also:

Robot.getLargeMotor(Motor.Port), Robot.getMediumMotor(Motor.Port)

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Motor.Port These represent the physical ports on the robot which Motors can be connected to

Method Summary

Modifier and Type	Method and Description
void	backward() Tells the motor to rotate backwards The motor will continue rotating until stop() is called.
void	forward() Tells the motor to rotate forwards The motor will continue rotating until stop() is called.
int	getMaxSpeed() Returns the maximum speed, this value is based off the Robots battery voltage (it decreases as the Robots battery drains).
int	getSpeed() Returns the speed of the Motor
int	getTachoCount() Returns the cumulative number of degrees the motor has turned since resetTachoCount() was last called.
boolean	isMoving() Returns whether the motor is currently moving.
boolean	isStalled() Returns whether the motor has stalled.
void	resetTachoCount() Resets the value returned by getTachoCount() to 0
void	rotate(int degrees) Rotates the motor the specified number of degrees.
void	rotate(int degrees, boolean async) Rotates the motor the specified number of degrees.
void	rotateTo(int degrees) Rotates the motor to the specified tacho count.
void	rotateTo(int degrees, boolean async) Rotates the motor to the specified tacho count.
void	run() This method is for internal use, it exists due to Sensors and Motors both extending runnable.
void	setSpeed(int newSpeed) Sets the speed of the Motor.
void	stop() Tells the motor to stop moving

Methods inherited from class java.lang.Object

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

Method Detail

forward

public void forward()

Tells the motor to rotate forwards The motor will continue rotating until stop() is called.

backward

public void backward()

Tells the motor to rotate backwards The motor will continue rotating until stop() is called.

stop

public void stop()

Tells the motor to stop moving

resetTachoCount

public void resetTachoCount()

Resets the value returned by getTachoCount() to 0

getTachoCount

public int getTachoCount()

Returns the cumulative number of degrees the motor has turned since resetTachoCount() was last called.

Returns:

The number of degrees the motor has turned

setSpeed

public void setSpeed(int newSpeed)

Sets the speed of the Motor. If the motor is already moving, forward() or backward() must be called after. The lowest accepted value is 0 The motors maximum speed can be found using getMaxSpeed()

Parameters:

newSpeed - The speed of the motor, this value must not be negative

Throws:

IllegalArgumentException - When newSpeed is negative

getSpeed

public int getSpeed()

Returns the speed of the Motor

Returns:

The speed of the motor

getMaxSpeed

public int getMaxSpeed()

Returns the maximum speed, this value is based off the Robots battery voltage (it decreases as the Robots battery drains). A charged robot should be able to reach a speed of atleast 700

Returns:

The current maximum speed of the robot

isMoving

public boolean isMoving()

Returns whether the motor is currently moving.

Returns:

True if the motor is moving, else false

isStalled

public boolean isStalled()

Returns whether the motor has stalled.

Returns:

True if the motor has stalled, else false

rotate

public void rotate(int degrees)

Rotates the motor the specified number of degrees. Negative values will cause the motor to rotate backwards.

Parameters:

degrees - The number of degrees that the motor should rotate

See Also:

rotate(int, boolean)

rotate

public void rotate(int degrees,
                   boolean async)

Rotates the motor the specified number of degrees. Negative values will cause the motor to rotate backwards. When async is set to true, this method will return instantly, this can be used if you need to call rotate multiple motors simultaneously.

Parameters:

degrees - The number of degrees that the motor should rotate

async - When true this method will not wait for the action to complete before returning control

rotateTo

public void rotateTo(int degrees)

Rotates the motor to the specified tacho count. After this action has completed, getTachoCount() should return the specified value within 2 degrees.

Parameters:

degrees - The tacho count to rotate the motor until

See Also:

rotateTo(int, boolean)

rotateTo

public void rotateTo(int degrees,
                     boolean async)

Rotates the motor to the specified tacho count. After this action has completed, getTachoCount() should return the specified value within 2 degrees. When async is set to true, this method will return instantly, this can be used if you need to call rotate multiple motors simultaneously.

Parameters:

degrees - The tacho count to rotate the motor until

async - When true this method will not wait for the action to complete before returning control

run

public void run()

This method is for internal use, it exists due to Sensors and Motors both extending runnable.

Specified by:

run in interface Runnable