Package me.autobot.lib.robot

Class Motor

java.lang.Object

me.autobot.lib.robot.Device

me.autobot.lib.robot.Motor

All Implemented Interfaces:

Logger

Direct Known Subclasses:

HoverboardWheel, Servo

public class Motor
extends Device

A moving device that can be controlled by the robot, such as a motor.

Field Summary

Fields inherited from class me.autobot.lib.robot.Device

devices

Constructor Summary

Constructors

Constructor	Description
Motor(int identifier, int address)	Creates a new motor with the given I2C address (and default I2C bus).
Motor(int identifier, int address, int bus)	Creates a new motor with the given I2C address and bus.

Method Summary

Modifier and Type	Method	Description
void	brake()	Brakes the motor.
void	connectToI2C(int pin)	Actually connects the motor to the I2C bus using the given pin.
void	connectToSerial(String port)	Connects the motor to the Serial.
void	emergencyStop()	Emergency stops the motor.
int	getAddress()	Returns the I2C address of the motor controller.
int	getBus()	Returns the I2C bus the motor controller is connected to.
int	getIdentifier()	Returns the identifier of the motor.
boolean	inSimulation()	Returns whether the motor is currently in simulation mode.
void	invert()	Inverts the motor's direction.
boolean	isInverted()	Returns if the motor direction is inverted.
protected void	reportSpeed()	Sends the speed to the motor controller.
void	setSpeed(double speed)	Sets the speed of the motor.
void	stop()	Stops the motor (sets speed to 0).

Methods inherited from class me.autobot.lib.robot.Device

emergencyStopAll, enableSimulation, getCurrent, getParent, getProperties, getProperty, getVoltage, registerDevice, setParent, setProperty

Methods inherited from class java.lang.Object

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

Constructor Details

Motor

public Motor(int identifier,
 int address)

Creates a new motor with the given I2C address (and default I2C bus).

Parameters:

identifier - The identifier of the motor.

address - The I2C address of the motor controller.

Motor

public Motor(int identifier,
 int address,
 int bus)

Creates a new motor with the given I2C address and bus.

Parameters:

identifier - The identifier of the motor.

address - The I2C address of the motor controller.

bus - The I2C bus the motor controller is connected to.

Method Details

connectToI2C

public void connectToI2C(int pin)

Actually connects the motor to the I2C bus using the given pin. This must be overridden by subclasses, it will throw a warning if not. Note: The parent must be set before calling this method.

Parameters:

pin - The pin the motor is connected to on the motor controller.

connectToSerial

public void connectToSerial(String port)

Connects the motor to the Serial. This must be overridden by subclasses, it will throw a warning if not.

Parameters:

port - The port to connect to.

setSpeed

public void setSpeed(double speed)

Sets the speed of the motor.

Parameters:

speed - The speed of the motor, from -1 to 1.

stop

public void stop()

Stops the motor (sets speed to 0).

invert

public void invert()

Inverts the motor's direction.

brake

public void brake()

Brakes the motor. Should be overridden by subclasses.

reportSpeed

protected void reportSpeed()

Sends the speed to the motor controller. This should be overridden by subclasses due to the difference in motor controllers.

emergencyStop

public void emergencyStop()

Emergency stops the motor. Runs both #stop and #brake.

Overrides:

emergencyStop in class Device

See Also:

• stop()
• brake()

inSimulation

public boolean inSimulation()

Returns whether the motor is currently in simulation mode.

Overrides:

inSimulation in class Device

Returns:

Whether the motor is in simulation mode.

getAddress

public int getAddress()

Returns the I2C address of the motor controller.

Returns:

The I2C address of the motor controller.

getBus

public int getBus()

Returns the I2C bus the motor controller is connected to.

Returns:

The I2C bus the motor controller is connected to.

isInverted

public boolean isInverted()

Returns if the motor direction is inverted.

Returns:

If the direction is inverted.

getIdentifier

public int getIdentifier()

Returns the identifier of the motor.

Returns:

The identifier of the motor.