Method Detail

• setMotorMode

  void setMotorMode(int motor,
                  DcMotor.RunMode mode)

  Set the current motor mode. DcMotor.RunMode

  Parameters:

  motor - port of motor

  mode - run mode

• getMotorMode

  DcMotor.RunMode getMotorMode(int motor)

  Get the current motor mode. Returns the current "run mode".

  Parameters:

  motor - port of motor

  Returns:

  run mode

• setMotorPower

  void setMotorPower(int motor,
                   double power)

  Set the current motor power

  Parameters:

  motor - port of motor

  power - from -1.0 to 1.0

• getMotorPower

  double getMotorPower(int motor)

  Get the current motor power

  Parameters:

  motor - port of motor

  Returns:

  scaled from -1.0 to 1.0

• setMotorMaxSpeed

  void setMotorMaxSpeed(int motor,
                      int encoderTicksPerSecond)

  Sets the maximum targetable motor speed when the indicated motor is running in one of the PID motor modes.

  Parameters:

  motor - the motor in question

  encoderTicksPerSecond - the new maximum targetable motor speed, in units of encoder ticks per second

  See Also:

  DcMotor.setMaxSpeed(int)

• getMotorMaxSpeed

  int getMotorMaxSpeed(int motor)

  Returns the current maximum targetable motor speed when the indicated motor is running in one of the PID modes

  Parameters:

  motor - the motor in question

  Returns:

  the current maximum targetable speed of that motor, in units of encoder ticks per second

  See Also:

  DcMotor.getMaxSpeed()

• isBusy

  boolean isBusy(int motor)

  Is the motor busy?

  Parameters:

  motor - port of motor

  Returns:

  true if the motor is busy

• setMotorZeroPowerBehavior

  void setMotorZeroPowerBehavior(int motor,
                               DcMotor.ZeroPowerBehavior zeroPowerBehavior)

  Sets the behavior of the motor when zero power is applied.

  Parameters:

  zeroPowerBehavior - the behavior of the motor when zero power is applied.

• getMotorZeroPowerBehavior

  DcMotor.ZeroPowerBehavior getMotorZeroPowerBehavior(int motor)

  Returns the current zero power behavior of the motor.

  Returns:

  the current zero power behavior of the motor.

• getMotorPowerFloat

  boolean getMotorPowerFloat(int motor)

  Is motor power set to float?

  Parameters:

  motor - port of motor

  Returns:

  true of motor is set to float

• setMotorTargetPosition

  void setMotorTargetPosition(int motor,
                            int position)

  Set the motor target position. This takes in an integer, which is not scaled. Motor power should be positive if using run to position

  Parameters:

  motor - port of motor

  position - range from Integer.MIN_VALUE to Integer.MAX_VALUE

• getMotorTargetPosition

  int getMotorTargetPosition(int motor)

  Get the current motor target position

  Parameters:

  motor - port of motor

  Returns:

  integer, unscaled

• getMotorCurrentPosition

  int getMotorCurrentPosition(int motor)

  Get the current motor position

  Parameters:

  motor - port of motor

  Returns:

  integer, unscaled