pt.citar.diablu.nxt.brick
Class NXTMotor

java.lang.Object
  pt.citar.diablu.nxt.brick.NXTComponent
      pt.citar.diablu.nxt.brick.NXTMotor

public class NXTMotor
extends NXTComponent

Author:

Jorge Cardoso

Constructor Summary

NXTMotor(NXTBrick brick, byte portAttached)
Creates a new instance of NXTMotor

Method Summary

boolean	fastStop()
boolean	forward(byte power) Make the motor go forward, ramping up the speed.
boolean	forwardLimit(byte power, int tachoLimit)
long	getBlockTachoCount()
long	getRotationCount()
long	getTachoCount()
long	getTachoLimit()
boolean	handBrake()
void	resetMotorPosition(boolean relative)
boolean	slowStop() Stops the motor slowly.

Methods inherited from class java.lang.Object

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

Constructor Detail

NXTMotor

public NXTMotor(NXTBrick brick,
                byte portAttached)

Creates a new instance of NXTMotor

Method Detail

forward

public boolean forward(byte power)

Make the motor go forward, ramping up the speed.

Parameters:

power - The power of the motor.

Returns:

True, if no error; False otherwise.

forwardLimit

public boolean forwardLimit(byte power,
                            int tachoLimit)

slowStop

public boolean slowStop()

Stops the motor slowly.

Returns:

True, if no error; False otherwise.

handBrake

public boolean handBrake()

fastStop

public boolean fastStop()

getTachoLimit

public long getTachoLimit()

getTachoCount

public long getTachoCount()

getBlockTachoCount

public long getBlockTachoCount()

getRotationCount

public long getRotationCount()

resetMotorPosition

public void resetMotorPosition(boolean relative)