com.diozero.devices.PiconZeroMotor Maven / Gradle / Ivy
package com.diozero.devices;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - Core
* Filename: PiconZeroMotor.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2021 diozero
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
* #L%
*/
import java.io.IOException;
import com.diozero.api.RuntimeIOException;
import com.diozero.devices.motor.MotorBase;
public class PiconZeroMotor extends MotorBase {
private static final int MAX_FORWARD_SPEED = 127;
private static final int MAX_BACKWARD_SPEED = -128;
private PiconZero piconZero;
private int motor;
public PiconZeroMotor(PiconZero piconZero, int motor) {
this.piconZero = piconZero;
this.motor = motor;
}
@Override
public void forward(float speed) throws RuntimeIOException {
piconZero.setMotor(motor, Math.round(Math.abs(speed) * MAX_FORWARD_SPEED));
}
@Override
public void backward(float speed) throws RuntimeIOException {
piconZero.setMotor(motor, Math.round(Math.abs(speed) * MAX_BACKWARD_SPEED));
}
@Override
public void stop() throws RuntimeIOException {
piconZero.setMotor(motor, 0);
}
/**
* Get the relative output value for the motor
* @return -1 for full reverse, 1 for full forward, 0 for stop
*/
@Override
public float getValue() throws RuntimeIOException {
return piconZero.getMotor(motor) / Math.abs(MAX_BACKWARD_SPEED);
}
@Override
public boolean isActive() throws RuntimeIOException {
return piconZero.getMotor(motor) != 0;
}
@Override
public void close() throws IOException {
stop();
}
}