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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.chassis;

import lejos.robotics.RegulatedMotor;
import lejos.utility.Matrix;

public interface Wheel {

  /** Returns the x,y and r factors to calculate motor speed from wheel linear and angular speed. 
   *  The factors form the row of a forward matrix 
   * @return the factors  as a matrix
   */
  public Matrix getFactors();  
  
  public RegulatedMotor getMotor();
  

 
  
}