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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.port;
/**
* An abstraction for a motor port that supports RCX
* type motors, but not NXT motors with tachometers.
*
* @author Lawrie Griffiths.
*
*/
public interface BasicMotorPort extends IOPort {
/** PWM Mode. Motor is not driven during off phase of PWM */
static public final int PWM_FLOAT = 0;
/** PWM Mode. Motor is driven during off phase of PWM */
static public final int PWM_BRAKE = 1;
/** Motor is running forward */
public final static int FORWARD = 1;
/** Motor is running backwards */
public final static int BACKWARD = 2;
/** Motor is stopped (PWM drive still applied) */
public final static int STOP = 3;
/** Motor is floating (no PWM drive) */
public final static int FLOAT = 4;
/** Maximum power setting = 100% */
public final static int MAX_POWER = 100;
public void controlMotor(int power, int mode);
public void setPWMMode(int mode);
}