com.qualcomm.robotcore.hardware

Enum DcMotor.RunMode

java.lang.Object

java.lang.Enum<DcMotor.RunMode>

com.qualcomm.robotcore.hardware.DcMotor.RunMode

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<DcMotor.RunMode>

Enclosing interface:

DcMotor

public static enum DcMotor.RunMode
extends java.lang.Enum<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. Some of these modes internally use PID control to achieve their function, while others do not. Those that do are referred to as "PID modes".

Enum Constant Summary

Enum Constants

Enum Constant and Description
RESET_ENCODERS Deprecated. Use STOP_AND_RESET_ENCODER instead
RUN_TO_POSITION The motor is to attempt to rotate in whatever direction is necessary to cause the encoder reading to advance or retreat from its current setting to the setting which has been provided through the setTargetPosition() method.
RUN_USING_ENCODER The motor is to do its best to run at targeted velocity.
RUN_USING_ENCODERS Deprecated. Use RUN_USING_ENCODER instead
RUN_WITHOUT_ENCODER The motor is simply to run at whatever velocity is achieved by apply a particular power level to the motor.
RUN_WITHOUT_ENCODERS Deprecated. Use RUN_WITHOUT_ENCODER instead
STOP_AND_RESET_ENCODER The motor is to set the current encoder position to zero.

Method Summary

Modifier and Type	Method and Description
boolean	isPIDMode() Returns whether this RunMode is a PID-controlled mode or not
DcMotor.RunMode	migrate() Deprecated. Replace use of old constants with new
static DcMotor.RunMode	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static DcMotor.RunMode[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

RUN_WITHOUT_ENCODER

public static final DcMotor.RunMode RUN_WITHOUT_ENCODER

The motor is simply to run at whatever velocity is achieved by apply a particular power level to the motor.

RUN_USING_ENCODER

public static final DcMotor.RunMode RUN_USING_ENCODER

The motor is to do its best to run at targeted velocity. An encoder must be affixed to the motor in order to use this mode. This is a PID mode.

RUN_TO_POSITION

public static final DcMotor.RunMode RUN_TO_POSITION

The motor is to attempt to rotate in whatever direction is necessary to cause the encoder reading to advance or retreat from its current setting to the setting which has been provided through the setTargetPosition() method. An encoder must be affixed to this motor in order to use this mode. This is a PID mode.

STOP_AND_RESET_ENCODER

public static final DcMotor.RunMode STOP_AND_RESET_ENCODER

The motor is to set the current encoder position to zero. In contrast to RUN_TO_POSITION, the motor is not rotated in order to achieve this; rather, the current rotational position of the motor is simply reinterpreted as the new zero value. However, as a side effect of placing a motor in this mode, power is removed from the motor, causing it to stop, though it is unspecified whether the motor enters brake or float mode. Further, it should be noted that setting a motor toSTOP_AND_RESET_ENCODER may or may not be a transient state: motors connected to some motor controllers will remain in this mode until explicitly transitioned to a different one, while motors connected to other motor controllers will automatically transition to a different mode after the reset of the encoder is complete.

RUN_WITHOUT_ENCODERS

@Deprecated
public static final DcMotor.RunMode RUN_WITHOUT_ENCODERS

Deprecated. Use RUN_WITHOUT_ENCODER instead

RUN_USING_ENCODERS

@Deprecated
public static final DcMotor.RunMode RUN_USING_ENCODERS

Deprecated. Use RUN_USING_ENCODER instead

RESET_ENCODERS

@Deprecated
public static final DcMotor.RunMode RESET_ENCODERS

Deprecated. Use STOP_AND_RESET_ENCODER instead

Method Detail

values

public static DcMotor.RunMode[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (DcMotor.RunMode c : DcMotor.RunMode.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static DcMotor.RunMode valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null

migrate

@Deprecated
public DcMotor.RunMode migrate()

Deprecated. Replace use of old constants with new

Returns the new new constant corresponding to old constant names.

isPIDMode

public boolean isPIDMode()

Returns whether this RunMode is a PID-controlled mode or not

Returns:

whether this RunMode is a PID-controlled mode or not