ch.aplu.robotsim

Class Motor

java.lang.Object

Actor

ch.aplu.robotsim.Part

ch.aplu.robotsim.Motor

public class Motor
extends Part

Class that represents one of the EV3 motors.

Constructor Summary

Constructors

Constructor and Description
Motor(MotorPort port) Creates a motor instance that is plugged into given port.

Method Summary

Modifier and Type	Method and Description
void	backward() Starts the backward rotation.
void	continueRelativeTo(int count) Same as rotateTo(int count), but the rotation counter is not set to zero.
void	continueRelativeTo(int count, boolean blocking) Same as rotateTo(int count, boolean blocking), but the rotation counter is not set to zero.
void	continueTo(int count) Same as rotateTo(int count), but the rotation counter is not set to zero.
void	continueTo(int count, boolean blocking) Same as rotateTo(int count, boolean blocking), but the rotation counter is not set to zero.
void	forward() Starts the forward rotation.
int	getMotorCount() Returns current value of the rotation counter.
MotorPort	getPort() Returns the port of the motor.
int	getSpeed() Returns the current speed (arbitrary units).
boolean	isMoving() Checks if motor is rotating.
void	resetMotorCount() Resets the rotation counter to zero.
void	rotateTo(int count) Sets the rotation counter to zero and rotates the motor until the given count is reached.
void	rotateTo(int count, boolean blocking) Sets the rotation counter to zero and rotates the motor until the given count is reached.
void	setSpeed(int speed) Sets the speed to the given value (arbitrary units).
void	stop() Stops the rotation.

Methods inherited from class java.lang.Object

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

Constructor Detail

Motor

public Motor(MotorPort port)

Creates a motor instance that is plugged into given port. In simulation mode, there is no movement with one motor only. MotorPort.A : left motor, MotorPort.B : right motor

Parameters:

port - the port where the motor is plugged-in (MotorPort.A, MotorPort.B)

Method Detail

forward

public void forward()

Starts the forward rotation. Method returns immediately, while the rotation continues.

backward

public void backward()

Starts the backward rotation. Method returns immediately, while the rotation continues.

stop

public void stop()

Stops the rotation.

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 void 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.

See Also:

rotateTo(int count, boolean blocking)

rotateTo

public void 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.

See Also:

rotateTo(int count)

continueTo

public void 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 void 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 void 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 void 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)

setSpeed

public void setSpeed(int speed)

Sets the speed to the given value (arbitrary units).

Parameters:

speed - the speed 0..100

getSpeed

public int getSpeed()

Returns the current speed (arbitrary units).

Returns:

the speed 0..100

getPort

public MotorPort getPort()

Returns the port of the motor.

Returns:

the motor port

isMoving

public boolean isMoving()

Checks if motor is rotating. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

true, if motor is rotating; otherwise false