lejos.remote.rcx.RCXRemoteMotorPort Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of lejos-ev3-api Show documentation

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.

The newest version!

package lejos.remote.rcx;
      
import lejos.hardware.device.RCXLink;
import lejos.hardware.port.BasicMotorPort;
import lejos.utility.Delay;

/**
 * Supports a motor connected to a remote RCX via a mindsensord NRLink adapter
 * 
 * @author Lawrie Griffiths
 *
 */
public class RCXRemoteMotorPort implements BasicMotorPort {
	private RCXLink link;
	private int id;
	private boolean started = false;
	private int oldPower = -1;
	
	public RCXRemoteMotorPort(RCXLink link, int id) {
		this.link = link;
		this.id = id;
	}
	public void controlMotor(int power, int mode) {
		//LCD.drawInt(id, 0, 0);
		//LCD.drawInt(power,4,0,1);
		//LCD.drawInt(mode,0,2);
		//LCD.refresh();
		
		int power7 = (int) (power/12.5);
		
		if (power7 > 7) power7 = 7;
				
		if ((mode == 1 || mode == 2) && !started) {
			link.startMotor(id);
			started = true;
			sleep();
		} else started = false;
		
		if (power != oldPower) {
			link.setMotorPower(id, power7);
			sleep();
		}
		
		if (mode == 1) link.forward(id);
		else if (mode == 2) link.backward(id);
		else if (mode == 3) link.stopMotor(id);
		else if (mode == 4) link.fltMotor(id);
		
		oldPower = power;
	}
	
	private void sleep() {
        Delay.msDelay(50);
	}
	
	public void setPWMMode(int mode) {
	}
    @Override
    public void close()
    {
        // TODO Auto-generated method stub
        
    }
    @Override
    public String getName()
    {
        // TODO Auto-generated method stub
        return null;
    }
    @Override
    public boolean setPinMode(int mode)
    {
        // TODO Auto-generated method stub
        return false;
    }
}