Package com.diozero.devices.motor

Class PwmMotor

java.lang.Object

com.diozero.devices.motor.MotorBase

com.diozero.devices.motor.PwmMotor

All Implemented Interfaces:

DeviceInterface, FloatConsumer, MotorInterface, AutoCloseable

public class PwmMotor
extends MotorBase

Generic bi-directional motor controlled by separate forward / backward PWM output GPIOs

Constructor Summary

Constructors

Constructor	Description
PwmMotor(int forwardPwmGpio, int backwardPwmGpio)
PwmMotor(PwmOutputDeviceFactoryInterface deviceFactory, int forwardPwmGpio, int backwardPwmGpio)

Method Summary

Modifier and Type	Method	Description
void	backward()	Backward at full speed
void	backward(float speed)
void	close()	Close this device
void	forward()	Forward at full speed
void	forward(float speed)
float	getValue()	Represents the speed of the motor as a floating point value between -1 (full speed backward) and 1 (full speed forward).
boolean	isActive()
void	stop()

Methods inherited from class com.diozero.devices.motor.MotorBase

accept, addListener, removeListener, reverse, setValue, whenBackward, whenForward, whenStop

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.diozero.api.function.FloatConsumer

andThen

Constructor Detail

PwmMotor

public PwmMotor(int forwardPwmGpio,
                int backwardPwmGpio)
         throws RuntimeIOException

Throws:

RuntimeIOException

PwmMotor

public PwmMotor(PwmOutputDeviceFactoryInterface deviceFactory,
                int forwardPwmGpio,
                int backwardPwmGpio)
         throws RuntimeIOException

Throws:

RuntimeIOException

Method Detail

close

public void close()

Description copied from interface: DeviceInterface

Close this device

forward

public void forward()
             throws RuntimeIOException

Forward at full speed

Throws:

RuntimeIOException - if an I/O error occurs

forward

public void forward(float speed)
             throws RuntimeIOException

Parameters:

speed - Range 0..1

Throws:

RuntimeIOException - if an I/O error occurs

backward

public void backward()
              throws RuntimeIOException

Backward at full speed

Throws:

RuntimeIOException - if an I/O error occurs

backward

public void backward(float speed)
              throws RuntimeIOException

Parameters:

speed - Range 0..1

Throws:

RuntimeIOException - if an I/O error occurs

stop

public void stop()
          throws RuntimeIOException

Throws:

RuntimeIOException

getValue

public float getValue()
               throws RuntimeIOException

Represents the speed of the motor as a floating point value between -1 (full speed backward) and 1 (full speed forward).

Returns:

current relative motor speed

Throws:

RuntimeIOException - if an I/O error occurs

isActive

public boolean isActive()
                 throws RuntimeIOException

Throws:

RuntimeIOException