Package com.diozero.devices.motor

Class PiconZeroMotor

java.lang.Object

com.diozero.devices.motor.MotorBase

com.diozero.devices.motor.PiconZeroMotor

All Implemented Interfaces:

DeviceInterface, MotorInterface, AutoCloseable

public class PiconZeroMotor
extends MotorBase

Constructor Summary

Constructors

Constructor	Description
PiconZeroMotor(PiconZero piconZero, int motor)

Method Summary

Modifier and Type	Method	Description
void	backward(float speed)	Set the motor direction to backward at the given speed.
void	close()	Close this device
void	forward(float speed)	Set the motor direction to forward at the given speed.
float	getValue()	Get the relative output speed of the motor in the range -1..1
boolean	isActive()	Is this motor currently active?
void	stop()	Stop the motor

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

addListener, removeListener, valueChanged, 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.devices.motor.MotorInterface

backward, forward, reverseDirection, setValue

Constructor Detail

PiconZeroMotor

public PiconZeroMotor(PiconZero piconZero,
                      int motor)

Method Detail

forward

public void forward(float speed)
             throws RuntimeIOException

Set the motor direction to forward at the given speed.

Parameters:

speed - normalised speed value, range 0..1

Throws:

RuntimeIOException - if an I/O error occurs

backward

public void backward(float speed)
              throws RuntimeIOException

Set the motor direction to backward at the given speed.

Parameters:

speed - normalised speed value, range 0..1

Throws:

RuntimeIOException - if an I/O error occurs

stop

public void stop()
          throws RuntimeIOException

Stop the motor

Throws:

RuntimeIOException - if an I/O error occurs

getValue

public float getValue()
               throws RuntimeIOException

Get the relative output speed of the motor in the range -1..1

Returns:

-1 for full reverse, 1 for full forward, 0 for stop

Throws:

RuntimeIOException - if an I/O error occurs

isActive

public boolean isActive()
                 throws RuntimeIOException

Is this motor currently active?

Returns:

true if speed != 0

Throws:

RuntimeIOException - if an I/O error occurs

close

public void close()

Close this device