lejos.nxt.addon.tetrix
Class TetrixMotorController

java.lang.Object
  lejos.nxt.I2CSensor
      lejos.nxt.addon.tetrix.TetrixMotorController

All Implemented Interfaces:

SensorConstants

public class TetrixMotorController
extends I2CSensor

HiTechnic Tetrix Motor Controller abstraction. Provides TetrixMotor and TetrixEncoderMotor instances which are used to control the Tetrix motors.

Use TetrixControllerFactory.newMotorController() to retrieve a TetrixMotorController instance.

Author:

Kirk P. Thompson

See Also:

TetrixControllerFactory, TetrixMotor, TetrixEncoderMotor

Field Summary

static int	MOTOR_1 Represents Motor 1 as indicated on the controller
static int	MOTOR_2 Represents Motor 2 as indicated on the controller

Fields inherited from class lejos.nxt.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION

Fields inherited from interface lejos.nxt.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, GREEN, GREEN_INDEX, MAX_AD_RAW, MAX_TYPE, MIN_TYPE, MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

TetrixMotorController(I2CPort port, int daisyChainPosition)
Instantiate a HiTechnic TETRIX Motor Controller connected to the given port and daisy chain position.

Method Summary

TetrixMotor	getBasicMotor(int motorID) Get the TetrixMotor instance that is associated with the motorID.
TetrixEncoderMotor	getEncoderMotor(int motorID) Get the TetrixEncoderMotor instance that is associated with the motorID.
TetrixRegulatedMotor	getRegulatedMotor(int motorID) Get the TetrixRegulatedMotor instance that is associated with the motorID.
float	getVoltage() Return the current battery voltage supplied to the controller.

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getVendorID, getVersion, sendData, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

MOTOR_1

public static final int MOTOR_1

Represents Motor 1 as indicated on the controller

See Also:

Constant Field Values

MOTOR_2

public static final int MOTOR_2

Represents Motor 2 as indicated on the controller

See Also:

Constant Field Values

Constructor Detail

TetrixMotorController

public TetrixMotorController(I2CPort port,
                             int daisyChainPosition)

Instantiate a HiTechnic TETRIX Motor Controller connected to the given port and daisy chain position.

Parameters:

port - The sensor port the controller (if daisy-chained, the first) is connected to.

daisyChainPosition - The position of the controller in the daisy chain.

Throws:

IllegalStateException - if a Motor Controller was not found with given port and daisyChainPosition

See Also:

TetrixControllerFactory.DAISY_CHAIN_POSITION_1, TetrixControllerFactory.DAISY_CHAIN_POSITION_2, TetrixControllerFactory.DAISY_CHAIN_POSITION_3, TetrixControllerFactory.DAISY_CHAIN_POSITION_4, SensorPort

Method Detail

getBasicMotor

public TetrixMotor getBasicMotor(int motorID)

Get the TetrixMotor instance that is associated with the motorID.

Parameters:

motorID - The motor ID number. This is indicated on the HiTechnic Motor Controller and is represented using MOTOR_1 or MOTOR_2.

Returns:

The TetrixMotor instance

See Also:

TetrixMotor, getEncoderMotor(int), getRegulatedMotor(int)

getEncoderMotor

public TetrixEncoderMotor getEncoderMotor(int motorID)

Get the TetrixEncoderMotor instance that is associated with the motorID. The motor must have an encoder installed for a TetrixEncoderMotor instance to work correctly.

Parameters:

motorID - The motor ID number. This is indicated on the HiTechnic Motor Controller and is represented using MOTOR_1 or MOTOR_2.

Returns:

The TetrixEncoderMotor instance

Throws:

IllegalArgumentException - if invalid motorID

See Also:

TetrixEncoderMotor, getBasicMotor(int), getRegulatedMotor(int)

getRegulatedMotor

public TetrixRegulatedMotor getRegulatedMotor(int motorID)

Get the TetrixRegulatedMotor instance that is associated with the motorID. The motor must have an encoder installed for a TetrixRegulatedMotor instance to work correctly.

Parameters:

motorID - The motor ID number. This is indicated on the HiTechnic Motor Controller and is represented using MOTOR_1 or MOTOR_2.

Returns:

The TetrixRegulatedMotor instance

Throws:

IllegalArgumentException - if invalid motorID

See Also:

TetrixRegulatedMotor, getBasicMotor(int), getEncoderMotor(int)

getVoltage

public float getVoltage()

Return the current battery voltage supplied to the controller.

Returns:

The current battery voltage in volts