com.qualcomm.robotcore.hardware

Interface DcMotor

All Superinterfaces:

DcMotorSimple, HardwareDevice

All Known Subinterfaces:

DcMotorEx

All Known Implementing Classes:

DcMotorImpl, DcMotorImplEx

public interface DcMotor
extends DcMotorSimple

DcMotor interface provides access to full-featured motor functionality.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	DcMotor.RunMode The run mode of a motor DcMotor.RunMode controls how the motor interprets the it's parameter settings passed through power- and encoder-related methods.
static class	DcMotor.ZeroPowerBehavior ZeroPowerBehavior provides an indication as to a motor's behavior when a power level of zero is applied.

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotorSimple

DcMotorSimple.Direction

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Method Summary

Modifier and Type	Method and Description
DcMotorController	getController() Returns the underlying motor controller on which this motor is situated.
int	getCurrentPosition() Returns the current reading of the encoder for this motor.
DcMotor.RunMode	getMode() Returns the current run mode for this motor
MotorConfigurationType	getMotorType() Returns the assigned type for this motor.
int	getPortNumber() Returns the port number on the underlying motor controller on which this motor is situated.
boolean	getPowerFloat() Returns whether the motor is currently in a float power level.
int	getTargetPosition() Returns the current target encoder position for this motor.
DcMotor.ZeroPowerBehavior	getZeroPowerBehavior() Returns the current behavior of the motor were a power level of zero to be applied.
boolean	isBusy() Returns true if the motor is currently advancing or retreating to a target position.
void	setMode(DcMotor.RunMode mode) Sets the current run mode for this motor
void	setMotorType(MotorConfigurationType motorType) Sets the assigned type of this motor.
void	setPowerFloat() Deprecated. This method is deprecated in favor of direct use of setZeroPowerBehavior() and setPower().
void	setTargetPosition(int position) Sets the desired encoder target position to which the motor should advance or retreat and then actively hold thereat.
void	setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior) Sets the behavior of the motor when a power level of zero is applied.

Methods inherited from interface com.qualcomm.robotcore.hardware.DcMotorSimple

getDirection, getPower, setDirection, setPower

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

getMotorType

MotorConfigurationType getMotorType()

Returns the assigned type for this motor. If no particular motor type has been configured, then MotorConfigurationType#getUnspecifiedMotorType() will be returned. Note that the motor type for a given motor is initially assigned in the robot configuration user interface, though it may subsequently be modified using methods herein.

Returns:

the assigned type for this motor

setMotorType

void setMotorType(MotorConfigurationType motorType)

Sets the assigned type of this motor. Usage of this method is very rare.

Parameters:

motorType - the new assigned type for this motor

See Also:

getMotorType()

getController

DcMotorController getController()

Returns the underlying motor controller on which this motor is situated.

Returns:

the underlying motor controller on which this motor is situated.

See Also:

getPortNumber()

getPortNumber

int getPortNumber()

Returns the port number on the underlying motor controller on which this motor is situated.

Returns:

the port number on the underlying motor controller on which this motor is situated.

See Also:

getController()

setZeroPowerBehavior

void setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior)

Sets the behavior of the motor when a power level of zero is applied.

Parameters:

zeroPowerBehavior - the new behavior of the motor when a power level of zero is applied.

See Also:

DcMotor.ZeroPowerBehavior, DcMotorSimple.setPower(double)

getZeroPowerBehavior

DcMotor.ZeroPowerBehavior getZeroPowerBehavior()

Returns the current behavior of the motor were a power level of zero to be applied.

Returns:

the current behavior of the motor were a power level of zero to be applied.

setPowerFloat

@Deprecated
void setPowerFloat()

Deprecated. This method is deprecated in favor of direct use of setZeroPowerBehavior() and setPower().

Sets the zero power behavior of the motor to FLOAT, then applies zero power to that motor.

Note that the change of the zero power behavior to FLOAT remains in effect even following the return of this method. This is a breaking change in behavior from previous releases of the SDK. Consider, for example, the following code sequence:

     motor.setZeroPowerBehavior(ZeroPowerBehavior.BRAKE); // method not available in previous releases
     motor.setPowerFloat();
     motor.setPower(0.0);
 

Starting from this release, this sequence of code will leave the motor floating. Previously, the motor would have been left braked.

See Also:

DcMotorSimple.setPower(double), getPowerFloat(), setZeroPowerBehavior(ZeroPowerBehavior)

getPowerFloat

boolean getPowerFloat()

Returns whether the motor is currently in a float power level.

Returns:

whether the motor is currently in a float power level.

See Also:

setPowerFloat()

setTargetPosition

void setTargetPosition(int position)

Sets the desired encoder target position to which the motor should advance or retreat and then actively hold thereat. This behavior is similar to the operation of a servo. The maximum speed at which this advance or retreat occurs is governed by the power level currently set on the motor. While the motor is advancing or retreating to the desired taget position, isBusy() will return true.

Note that adjustment to a target position is only effective when the motor is in RUN_TO_POSITION RunMode. Note further that, clearly, the motor must be equipped with an encoder in order for this mode to function properly.

Parameters:

position - the desired encoder target position

See Also:

getCurrentPosition(), setMode(RunMode), DcMotor.RunMode.RUN_TO_POSITION, getTargetPosition(), isBusy()

getTargetPosition

int getTargetPosition()

Returns the current target encoder position for this motor.

Returns:

the current target encoder position for this motor.

See Also:

setTargetPosition(int)

isBusy

boolean isBusy()

Returns true if the motor is currently advancing or retreating to a target position.

Returns:

true if the motor is currently advancing or retreating to a target position.

See Also:

setTargetPosition(int)

getCurrentPosition

int getCurrentPosition()

Returns the current reading of the encoder for this motor. The units for this reading, that is, the number of ticks per revolution, are specific to the motor/encoder in question, and thus are not specified here.

Returns:

the current reading of the encoder for this motor

See Also:

getTargetPosition(), DcMotor.RunMode.STOP_AND_RESET_ENCODER

setMode

void setMode(DcMotor.RunMode mode)

Sets the current run mode for this motor

Parameters:

mode - the new current run mode for this motor

See Also:

DcMotor.RunMode, getMode()

getMode

DcMotor.RunMode getMode()

Returns the current run mode for this motor

Returns:

the current run mode for this motor

See Also:

DcMotor.RunMode, setMode(RunMode)