Package com.diozero.devices.motor

Class DualMotor

java.lang.Object

com.diozero.devices.motor.DualMotor

All Implemented Interfaces:

DeviceInterface, AutoCloseable

Direct Known Subclasses:

CamJamKitDualMotor, RyanteckDualMotor, TB6612FNGDualMotorDriver

public class DualMotor
extends Object
implements DeviceInterface

Generic dual bi-directional motor driver. Assumes that the motors are arranged in a left / right orientation.

Constructor Summary

Constructors

Constructor	Description
DualMotor(MotorInterface motorA, MotorInterface motorB)

Method Summary

Modifier and Type	Method	Description
void	backward(float speed)
void	backwardLeft(float speed)
void	backwardRight(float speed)
void	circleLeft(float speed, float turnRate)
void	circleRight(float speed, float turnRate)
void	close()	Close this device
void	forward(float speed)
void	forwardLeft(float speed)
void	forwardRight(float speed)
MotorInterface	getMotorA()
MotorInterface	getMotorB()
float[]	getValues()
void	reverseDirection()
void	rotateLeft(float speed)
void	rotateRight(float speed)
void	setValues(float leftValue, float rightValue)	Set the speed and direction for both motors (clockwise / counter-clockwise)
void	stop()

Methods inherited from class java.lang.Object

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

Constructor Detail

DualMotor

public DualMotor(MotorInterface motorA,
                 MotorInterface motorB)

Method Detail

close

public void close()

Description copied from interface: DeviceInterface

Close this device

Specified by:

close in interface AutoCloseable

Specified by:

close in interface DeviceInterface

getValues

public float[] getValues()
                  throws RuntimeIOException

Throws:

RuntimeIOException

setValues

public void setValues(float leftValue,
                      float rightValue)
               throws RuntimeIOException

Set the speed and direction for both motors (clockwise / counter-clockwise)

Parameters:

leftValue - Range -1 .. 1. Positive numbers for clockwise, Negative numbers for counter clockwise

rightValue - Range -1 .. 1. Positive numbers for clockwise, Negative numbers for counter clockwise

Throws:

RuntimeIOException - if an I/O error occurs

forward

public void forward(float speed)
             throws RuntimeIOException

Throws:

RuntimeIOException

backward

public void backward(float speed)
              throws RuntimeIOException

Throws:

RuntimeIOException

rotateLeft

public void rotateLeft(float speed)
                throws RuntimeIOException

Throws:

RuntimeIOException

rotateRight

public void rotateRight(float speed)
                 throws RuntimeIOException

Throws:

RuntimeIOException

forwardLeft

public void forwardLeft(float speed)
                 throws RuntimeIOException

Throws:

RuntimeIOException

forwardRight

public void forwardRight(float speed)
                  throws RuntimeIOException

Throws:

RuntimeIOException

backwardLeft

public void backwardLeft(float speed)
                  throws RuntimeIOException

Throws:

RuntimeIOException

backwardRight

public void backwardRight(float speed)
                   throws RuntimeIOException

Throws:

RuntimeIOException

reverseDirection

public void reverseDirection()
                      throws RuntimeIOException

Throws:

RuntimeIOException

circleLeft

public void circleLeft(float speed,
                       float turnRate)

circleRight

public void circleRight(float speed,
                        float turnRate)

stop

public void stop()
          throws RuntimeIOException

Throws:

RuntimeIOException

getMotorA

public MotorInterface getMotorA()

getMotorB

public MotorInterface getMotorB()