com.qualcomm.robotcore.hardware

Interface DcMotorController

All Superinterfaces:

HardwareDevice

All Known Subinterfaces:

DcMotorControllerEx

public interface DcMotorController
extends HardwareDevice

Interface for working with DC Motor Controllers

Different DC motor controllers will implement this interface.

Nested Class Summary

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

HardwareDevice.Manufacturer

Method Summary

Modifier and Type	Method and Description
int	getMotorCurrentPosition(int motor) Get the current motor position
DcMotor.RunMode	getMotorMode(int motor) Get the current motor mode.
double	getMotorPower(int motor) Get the current motor power
boolean	getMotorPowerFloat(int motor) Is motor power set to float?
int	getMotorTargetPosition(int motor) Get the current motor target position
MotorConfigurationType	getMotorType(int motor) Retrieves the motor type configured for this motor
DcMotor.ZeroPowerBehavior	getMotorZeroPowerBehavior(int motor) Returns the current zero power behavior of the motor.
boolean	isBusy(int motor) Is the motor busy?
void	resetDeviceConfigurationForOpMode(int motor) Reset the state we hold for the given motor so that it's clean at the start of an opmode
void	setMotorMode(int motor, DcMotor.RunMode mode) Set the current motor mode.
void	setMotorPower(int motor, double power) Set the current motor power
void	setMotorTargetPosition(int motor, int position) Set the motor target position.
void	setMotorType(int motor, MotorConfigurationType motorType) Informs the motor controller of the type of a particular motor.
void	setMotorZeroPowerBehavior(int motor, DcMotor.ZeroPowerBehavior zeroPowerBehavior) Sets the behavior of the motor when zero power is applied.

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

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

setMotorType

void setMotorType(int motor,
                  MotorConfigurationType motorType)

Informs the motor controller of the type of a particular motor. This is normally used only as part of the initialization of a motor.

Parameters:

motor - port of the motor in question

motorType - the motor type.

getMotorType

MotorConfigurationType getMotorType(int motor)

Retrieves the motor type configured for this motor

Parameters:

motor - the motor in question

Returns:

the configured type for that motor, or MotorConfigurationType#getUnspecifiedMotorType() if no type has been configured

setMotorMode

void setMotorMode(int motor,
                  DcMotor.RunMode mode)

Set the current motor mode. DcMotor.RunMode

Parameters:

motor - port of motor

mode - run mode

getMotorMode

DcMotor.RunMode getMotorMode(int motor)

Get the current motor mode. Returns the current "run mode".

Parameters:

motor - port of motor

Returns:

run mode

setMotorPower

void setMotorPower(int motor,
                   double power)

Set the current motor power

Parameters:

motor - port of motor

power - from -1.0 to 1.0

getMotorPower

double getMotorPower(int motor)

Get the current motor power

Parameters:

motor - port of motor

Returns:

scaled from -1.0 to 1.0

isBusy

boolean isBusy(int motor)

Is the motor busy?

Parameters:

motor - port of motor

Returns:

true if the motor is busy

setMotorZeroPowerBehavior

void setMotorZeroPowerBehavior(int motor,
                               DcMotor.ZeroPowerBehavior zeroPowerBehavior)

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

Parameters:

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

getMotorZeroPowerBehavior

DcMotor.ZeroPowerBehavior getMotorZeroPowerBehavior(int motor)

Returns the current zero power behavior of the motor.

Returns:

the current zero power behavior of the motor.

getMotorPowerFloat

boolean getMotorPowerFloat(int motor)

Is motor power set to float?

Parameters:

motor - port of motor

Returns:

true of motor is set to float

setMotorTargetPosition

void setMotorTargetPosition(int motor,
                            int position)

Set the motor target position. This takes in an integer, which is not scaled. Motor power should be positive if using run to position

Parameters:

motor - port of motor

position - range from Integer.MIN_VALUE to Integer.MAX_VALUE

getMotorTargetPosition

int getMotorTargetPosition(int motor)

Get the current motor target position

Parameters:

motor - port of motor

Returns:

integer, unscaled

getMotorCurrentPosition

int getMotorCurrentPosition(int motor)

Get the current motor position

Parameters:

motor - port of motor

Returns:

integer, unscaled

resetDeviceConfigurationForOpMode

void resetDeviceConfigurationForOpMode(int motor)

Reset the state we hold for the given motor so that it's clean at the start of an opmode

Parameters:

motor -