GenericMotor

java.lang.Object
- ch.aplu.ev3.Part
- - ch.aplu.ev3.GenericMotor

Direct Known Subclasses:

MediumMotor, Motor, NxtMotor
```
public abstract class GenericMotor
extends Part
```
Abstract class that represents a EV3LargeRegulatedMotors or a lejos.hardware.motor.NXTRegulatedMotor.

Method Summary

Methods
Modifier and Type	Method and Description
`GenericMotor`	`backward()` Starts the backward rotation with preset speed.
`GenericMotor`	`continueRelativeTo(int count)` Same as rotateTo(int count), but the rotation counter is not set to zero.
`GenericMotor`	`continueRelativeTo(int count, boolean blocking)` Same as rotateTo(int count, boolean blocking), but the rotation counter is not set to zero.
`GenericMotor`	`continueTo(int count)` Same as rotateTo(int count), but the rotation counter is not set to zero.
`GenericMotor`	`continueTo(int count, boolean blocking)` Same as rotateTo(int count, boolean blocking), but the rotation counter is not set to zero.
`GenericMotor`	`forward()` Starts the forward rotation with preset speed.
`int`	`getMotorCount()` Returns current value of the rotation counter.
`int`	`getPortId()` Returns the port number.
`java.lang.String`	`getPortLabel()` Returns the port label.
`int`	`getSpeed()` Returns the current speed (arbitrary units).
`double`	`getVelocity()` Returns the current velocity.
`boolean`	`isMoving()` Checks if the motor is rotating.
`void`	`resetMotorCount()` Resets the rotation counter to zero.
`GenericMotor`	`rotateTo(int count)` Sets the rotation counter to zero and rotates the motor until the given count is reached.
`GenericMotor`	`rotateTo(int count, boolean blocking)` Sets the rotation counter to zero and rotates the motor until the given count is reached.
`void`	`setAcceleration(int acceleration)` Sets the acceleration rate of the motor in degrees/sec/sec The default value is 6000.
`GenericMotor`	`setSpeed(int speed)` Sets the speed to the given value (arbitrary units).
`void`	`setSpeedFactor(double value)` Sets the motor speed factor to given value.
`GenericMotor`	`setVelocity(double velocity)` Sets the velocity to the given value.
`double`	`speedToVelocity(int speed)` Conversion from speed to velocity.
`GenericMotor`	`stop()` Stops the motor.
`GenericMotor`	`stop(boolean immediately)` Stops the motor.
`int`	`velocityToSpeed(double velocity)` Conversion from velocity to speed.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Method Detail
  - getPortId
```
public int getPortId()
```
    Returns the port number.
    
    Returns:
    the port number (0..3)
  - getPortLabel
```
public java.lang.String getPortLabel()
```
    Returns the port label.
    
    Returns:
    the port label (A, B, C, D)
  - forward
```
public GenericMotor forward()
```
    Starts the forward rotation with preset speed. Method returns, while the rotation continues. (If motor is already rotating with same speed, returns immediately.) The rotation counter continues to be increased from its start value.
    
    Returns:
    the object reference to allow method chaining
  - backward
```
public GenericMotor backward()
```
    Starts the backward rotation with preset speed. Method returns, while the rotation continues. The rotation counter continues to be decreased from its start value.
    
    Returns:
    the object reference to allow method chaining
  - setSpeed
```
public GenericMotor setSpeed(int speed)
```
    Sets the speed to the given value (arbitrary units). The speed will be changed to the new value at the next movement call only.
    
    Parameters:
    speed - the speed 0..100
    
    Returns:
    the object reference to allow method chaining
  - getSpeed
```
public int getSpeed()
```
    Returns the current speed (arbitrary units).
    
    Returns:
    the speed 0..100
  - setVelocity
```
public GenericMotor setVelocity(double velocity)
```
    Sets the velocity to the given value. The velocity will be changed to the new value at the next movement call only.
    velocity = MotorSpeedFactor * speed (default MotorSpeedFactor set in ShareContants interface).
    
    Parameters:
    velocity - the velocity in m/s
    
    Returns:
    the object reference to allow method chaining
  - getVelocity
```
public double getVelocity()
```
    Returns the current velocity. The velocity in m/s with some inaccuracy.
    velocity = MotorSpeedFactor * speed (default MotorSpeedFactor set in ShareContants interface).
    
    Returns:
    the velocity in m/s
  - stop
```
public GenericMotor stop(boolean immediately)
```
    Stops the motor. If immediately = true, the method returns immediately while the motor is still spinning down. The rotation counter is stopped but maintains its value. (If motor is already stopped, returns immediately.)
    
    Parameters:
    immediately - if true, the method returns immediately; otherwise it blocks until the motor is at rest
    
    Returns:
    the object reference to allow method chaining
  - stop
```
public GenericMotor stop()
```
    Stops the motor. The rotation counter is stopped but maintains its value. (If motor is already stopped, returns immediately.)
    
    Returns:
    the object reference to allow method chaining
  - setSpeedFactor
```
public void setSpeedFactor(double value)
```
    Sets the motor speed factor to given value. Formula: velocity = speedFactor * speed where velocity is in m/s and speed is value used in setSpeed() Default: Set in ShareContants interface
    
    Parameters:
    value - the velocity per speed unit
  - speedToVelocity
```
public double speedToVelocity(int speed)
```
    Conversion from speed to velocity.
    
    Parameters:
    speed - the speed as set in setSpeed()
    
    Returns:
    the velocity in m/s
    See Also:
    setSpeedFactor(double value)
  - velocityToSpeed
```
public int velocityToSpeed(double velocity)
```
    Conversion from velocity to speed.
    
    Parameters:
    velocity - the velocity in m/s
    
    Returns:
    the speed as set in setSpeed()
    See Also:
    setSpeedFactor(double value)
  - resetMotorCount
```
public void resetMotorCount()
```
    Resets the rotation counter to zero.
    
    See Also:
    rotateTo(int count)
  - getMotorCount
```
public int getMotorCount()
```
    Returns current value of the rotation counter.
    
    Returns:
    the value of the rotation counter
  - rotateTo
```
public GenericMotor rotateTo(int count)
```
    Sets the rotation counter to zero and rotates the motor until the given count is reached. If count is negative, the motor turns backwards. This method returns when the count is reached and the motor stops.
    
    Returns:
    the object reference to allow method chaining
    See Also:
    rotateTo(int count, boolean blocking)
  - rotateTo
```
public GenericMotor rotateTo(int count,
                    boolean blocking)
```
    Sets the rotation counter to zero and rotates the motor until the given count is reached. If count is negative, the motor turns backwards. If blocking = false, the method returns immediately. You may register a motion listener with addMotionListener() to get a callback when the count is reached and the motor stops. If blocking = true, the method returns when the count is reached and the motor stops.
    
    Returns:
    the object reference to allow method chaining
    See Also:
    rotateTo(int count)
  - continueTo
```
public GenericMotor continueTo(int count)
```
    Same as rotateTo(int count), but the rotation counter is not set to zero. The given count is the absolute value of the rotation counter to be reached. If the current count is higher than the count to reach, the motor turns backward. This method returns when the count is reached and the motor stops.
    
    Parameters:
    count - the rotation counter value to be reached
    See Also:
    rotateTo(int count)
  - continueTo
```
public GenericMotor continueTo(int count,
                      boolean blocking)
```
    Same as rotateTo(int count, boolean blocking), but the rotation counter is not set to zero. The given count is the absolute value of the rotation counter to be reached. If the current count is higher than the count to reach, the motor turns backward.
    
    Parameters:
    count - the rotation counter value to be reached
    See Also:
    rotateTo(int count, boolean blocking)
  - continueRelativeTo
```
public GenericMotor continueRelativeTo(int count)
```
    Same as rotateTo(int count), but the rotation counter is not set to zero. The given count is the relative increasement/decreasement from the current value of the rotation counter. For count < 0 the motor turns backward. This method returns when the count is reached and the motor stops.
    
    Parameters:
    count - the rotation counter value to be increased/decreased
    See Also:
    rotateTo(int count)
  - continueRelativeTo
```
public GenericMotor continueRelativeTo(int count,
                              boolean blocking)
```
    Same as rotateTo(int count, boolean blocking), but the rotation counter is not set to zero. The given count is the relative increasement/decreasement from the current value of the rotation counter. For count < 0 the motor turns backward.
    
    Parameters:
    count - the rotation counter value to be increased/decreased
    blocking - if true, the method blocks until the count is reached, otherwise it returns immediately
    See Also:
    rotateTo(int count, boolean blocking)
  - isMoving
```
public boolean isMoving()
```
    Checks if the motor is rotating. When the motor is stopped by calling stop(), it may last a while until isMoving returns false.
    
    Returns:
    true, if rotating, otherwise false
  - setAcceleration
```
public void setAcceleration(int acceleration)
```
    Sets the acceleration rate of the motor in degrees/sec/sec The default value is 6000. Smaller values make speed changes smoother.
    
    Parameters:
    acceleration - the new accelaration

Class GenericMotor

Method Summary

Methods inherited from class java.lang.Object

Method Detail

getPortId

getPortLabel

forward

backward

setSpeed

getSpeed

setVelocity

getVelocity

stop

stop

setSpeedFactor

speedToVelocity

velocityToSpeed

resetMotorCount

getMotorCount

rotateTo

rotateTo

continueTo

continueTo

continueRelativeTo

continueRelativeTo

isMoving

setAcceleration