lejos.hardware.device.PFMotorPort Maven / Gradle / Ivy

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leJOS (pronounced like the Spanish word "lejos" for "far") is a tiny Java Virtual Machine. In 2013 it was ported to the LEGO EV3 brick.

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package lejos.hardware.device;

import lejos.hardware.port.BasicMotorPort;

/**
 * MotorPort for PF Motors using HiTechnic IRLink
 * 
 * @author Lawrie Griffiths
 *
 */
public class PFMotorPort implements BasicMotorPort {
	private int channel, slot;
	private IRLink link;
	private static final int[] modeTranslation = {1,2,3,0};
	
	public PFMotorPort(IRLink link, int channel, int slot) {
		this.channel = channel;
		this.slot = slot;
		this.link = link;
	}
	
	public void controlMotor(int power, int mode) {
		if (mode < 1 || mode > 4) return;
		link.sendPFComboDirect(channel, (slot == 0 ? modeTranslation[mode-1] : 0), (slot == 1 ? modeTranslation[mode-1] : 0));
	}

	public void setPWMMode(int mode) {
		// Not implemented
	}

    @Override
    public void close()
    {
    }

    @Override
    public String getName()
    {
        return null;
    }

    @Override
    public boolean setPinMode(int mode)
    {
        return false;
    }
}