Package me.autobot.lib.robot.motors

Class HoverboardWheel

java.lang.Object

me.autobot.lib.robot.Device

me.autobot.lib.robot.Motor

me.autobot.lib.robot.motors.HoverboardWheel

All Implemented Interfaces:

Logger

public class HoverboardWheel
extends Motor

A hoverboard wheel motor.

Field Summary

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

devices

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	connectToSerial(String port)	Do not use this method, use the one with the directionPin and speedPin instead.
void	connectToSerial(String port, int directionPin, int speedPin)	Connects the motor to the serial port.
protected void	reportSpeed()	Reports the speed of the motor to the connection.
void	setMaxSpeed(double maxSpeed)	Sets the maximum speed of the motor.
void	setSpeed(double speed)	Sets the speed of the motor.
protected void	writeToPWMPin(int index, byte[] value)	Writes a byte list to a specific pin.
protected void	writeToPWMPin(int index, float value)	Writes a float to a specific pin.

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

brake, connectToI2C, emergencyStop, getAddress, getBus, getIdentifier, inSimulation, invert, isInverted, stop

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

HoverboardWheel

public HoverboardWheel(int identifier,
 int address)

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

Parameters:

identifier - The identifier of the motor.

address - The address of the motor.

HoverboardWheel

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

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

Parameters:

identifier - The identifier of the motor.

address - The address of the motor.

bus - The bus of the motor.

Method Details

connectToSerial

public void connectToSerial(String port)

Do not use this method, use the one with the directionPin and speedPin instead.

Overrides:

connectToSerial in class Motor

Parameters:

port - The port to connect to.

connectToSerial

public void connectToSerial(String port,
 int directionPin,
 int speedPin)

Connects the motor to the serial port.

Parameters:

port - The port to connect to. Example: "/dev/cu.wchusbserial.10"

directionPin - The pin to use for the direction.

speedPin - The pin to use for the speed.

setSpeed

public void setSpeed(double speed)

Sets the speed of the motor.

Overrides:

setSpeed in class Motor

Parameters:

speed - The speed of the motor.

reportSpeed

protected void reportSpeed()

Reports the speed of the motor to the connection.

Overrides:

reportSpeed in class Motor

writeToPWMPin

protected void writeToPWMPin(int index,
 float value)

Writes a float to a specific pin.

Parameters:

index - The index of the pin to write to.

value - The float to write to the pin.

writeToPWMPin

protected void writeToPWMPin(int index,
 byte[] value)

Writes a byte list to a specific pin. Should be 4 bytes long (a float!)

Parameters:

index - The index of the pin to write to.

value - The byte list (length=4) to write to the pin.

setMaxSpeed

public void setMaxSpeed(double maxSpeed)

Sets the maximum speed of the motor.

Parameters:

maxSpeed - The maximum speed of the motor.