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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.robotics;
/**
* Abstraction for the tachometer built into NXT motors.
*
* @author Lawrie Griffiths
*
*/
public interface Encoder {
/**
* Returns the tachometer count.
*
* @return tachometer count in degrees
*/
public int getTachoCount();
/**
* Reset the tachometer count.
*/
public void resetTachoCount();
}