com.qualcomm.robotcore.hardware

Interface DcMotorSimple

All Superinterfaces:

HardwareDevice

All Known Subinterfaces:

CRServo, DcMotor, DcMotorEx

All Known Implementing Classes:

CRServoImpl, CRServoImplEx, DcMotorImpl, DcMotorImplEx

public interface DcMotorSimple
extends HardwareDevice

Instances of DcMotorSimple interface provide a most basic motor-like functionality

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	DcMotorSimple.Direction DcMotors can be configured to internally reverse the values to which, e.g., their motor power is set.

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

HardwareDevice.Manufacturer

Method Summary

Modifier and Type	Method and Description
DcMotorSimple.Direction	getDirection() Returns the current logical direction in which this motor is set as operating.
double	getPower() Returns the current configured power level of the motor.
void	setDirection(DcMotorSimple.Direction direction) Sets the logical direction in which this motor operates.
void	setPower(double power) Sets the power level of the motor, expressed as a fraction of the maximum possible power / speed supported according to the run mode in which the motor is operating.

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

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

setDirection

void setDirection(DcMotorSimple.Direction direction)

Sets the logical direction in which this motor operates.

Parameters:

direction - the direction to set for this motor

See Also:

getDirection()

getDirection

DcMotorSimple.Direction getDirection()

Returns the current logical direction in which this motor is set as operating.

Returns:

the current logical direction in which this motor is set as operating.

See Also:

setDirection(Direction)

setPower

void setPower(double power)

Sets the power level of the motor, expressed as a fraction of the maximum possible power / speed supported according to the run mode in which the motor is operating.

Setting a power level of zero will brake the motor

Parameters:

power - the new power level of the motor, a value in the interval [-1.0, 1.0]

See Also:

getPower(), DcMotor.setMode(DcMotor.RunMode), DcMotor.setPowerFloat()

getPower

double getPower()

Returns the current configured power level of the motor.

Returns:

the current level of the motor, a value in the interval [0.0, 1.0]

See Also:

setPower(double)