io.github.thunderbots.lightning.hardware

Class Motor

java.lang.Object

io.github.thunderbots.lightning.hardware.Motor

Direct Known Subclasses:

CRServo

public class Motor
extends java.lang.Object

A Motor represents any physical DC motor that is connected to the robot.

Author:

Zach Ohara, Pranav Mathur

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	Motor.Encoder An Encoder represents a physical encoder that is attached to a specific motor.

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.DcMotor	basemotor The DcMotor that this object is based on.
private Motor.Encoder	encoder The encoder that is attached to this motor.
static double	MAX_POWER The maximum power of the motor.
static double	MIN_POWER The maximum power of the motor when the motor is spinning backwards.
private double	power The current power of the motor.
static double	REST_POWER The power of the motor when the motor is at rest.

Constructor Summary

Constructors

Constructor and Description
Motor(com.qualcomm.robotcore.hardware.DcMotor basemotor) Constructs a new motor that uses the given DcMotor as a base.

Method Summary

Modifier and Type	Method and Description
Motor.Encoder	getEncoder() Gets the encoder attached to this motor.
java.lang.String	getName() Gets the name of the device as it is defined in the configuration file.
double	getPower() Gets the current movement power of this motor.
int	getRawPosition() Gets the raw encoder position value of this motor.
boolean	isReversed() Determines if the motor's output direction is reversed from its inputs.
void	setPower(double power) Sets the movement power of this motor.
void	setReversed(boolean reversed) Sets if the motor's output direction is reversed from its inputs.
void	stop() Stops the motor.
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

basemotor

private com.qualcomm.robotcore.hardware.DcMotor basemotor

The DcMotor that this object is based on.

encoder

private Motor.Encoder encoder

The encoder that is attached to this motor. This will always be a defined object, even if there is no encoder attached to this motor.

power

private double power

The current power of the motor.

MAX_POWER

public static final double MAX_POWER

The maximum power of the motor.

See Also:

Constant Field Values

REST_POWER

public static final double REST_POWER

The power of the motor when the motor is at rest.

See Also:

Constant Field Values

MIN_POWER

public static final double MIN_POWER

The maximum power of the motor when the motor is spinning backwards.

See Also:

Constant Field Values

Constructor Detail

Motor

public Motor(com.qualcomm.robotcore.hardware.DcMotor basemotor)

Constructs a new motor that uses the given DcMotor as a base.

Parameters:

basemotor - the base Motor

Method Detail

getName

public java.lang.String getName()

Gets the name of the device as it is defined in the configuration file.

Returns:

the name of the motor.

getEncoder

public Motor.Encoder getEncoder()

Gets the encoder attached to this motor. This will return an Encoder even if there is no physical encoder attached to the physical motor.

Returns:

the encoder on this motor.

getRawPosition

public int getRawPosition()

Gets the raw encoder position value of this motor.

Returns:

the raw encoder value of this motor.

isReversed

public boolean isReversed()

Determines if the motor's output direction is reversed from its inputs.

Returns:

true if the motor's output is reversed from its inputs, or false if the motor's ouput has the same polarity as its input.

setReversed

public void setReversed(boolean reversed)

Sets if the motor's output direction is reversed from its inputs.

Parameters:

reversed - true if the motor's output is reversed from its inputs, or false if the motor's ouput has the same polarity as its input.

getPower

public double getPower()

Gets the current movement power of this motor.

Returns:

the current movement power; between -1 and 1.

setPower

public void setPower(double power)

Sets the movement power of this motor.

Parameters:

power - the movement power; between -1 and 1.

stop

public void stop()

Stops the motor. If the motor is not currently moving, this method has no effect.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object