DcMotorImpl

java.lang.Object
- com.qualcomm.robotcore.hardware.DcMotorImpl

All Implemented Interfaces:

DcMotor, DcMotorSimple, HardwareDevice

Direct Known Subclasses:

DcMotorImplEx
```
public class DcMotorImpl
extends java.lang.Object
implements DcMotor
```
Control a DC Motor attached to a DC Motor Controller

See Also:
DcMotorController

Nested Class Summary
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotor
  DcMotor.RunMode, DcMotor.ZeroPowerBehavior
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotorSimple
  DcMotorSimple.Direction
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice
  HardwareDevice.Manufacturer

Field Summary

Fields
Modifier and Type	Field and Description
`protected DcMotorController`	`controller`
`protected DcMotorSimple.Direction`	`direction`
`protected DcMotor.RunMode`	`mode`
`protected int`	`portNumber`

Constructor Summary

Constructors
Constructor and Description
`DcMotorImpl(DcMotorController controller, int portNumber)` Constructor
`DcMotorImpl(DcMotorController controller, int portNumber, DcMotorSimple.Direction direction)` Constructor

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`close()` Closes this device
`java.lang.String`	`getConnectionInfo()` Get connection information about this device in a human readable format
`DcMotorController`	`getController()` Get DC motor controller
`int`	`getCurrentPosition()` Get the current encoder value.
`java.lang.String`	`getDeviceName()` Returns a string suitable for display to the user as to the type of device
`DcMotorSimple.Direction`	`getDirection()` Get the direction
`HardwareDevice.Manufacturer`	`getManufacturer()` Returns an indication of the manufacturer of this device.
`int`	`getMaxSpeed()` Returns the current maximum targetable speed for this motor when the motor is running in one of the PID modes.
`DcMotor.RunMode`	`getMode()` Get the current mode
`int`	`getPortNumber()` Get port number
`double`	`getPower()` Get the current motor power
`boolean`	`getPowerFloat()` Is motor power set to float?
`int`	`getTargetPosition()` Get the current motor target position.
`int`	`getVersion()` Version
`DcMotor.ZeroPowerBehavior`	`getZeroPowerBehavior()` Returns the current behavior of the motor were a power level of zero to be applied.
`protected void`	`internalSetMode(DcMotor.RunMode mode)`
`protected void`	`internalSetPower(double power)`
`protected void`	`internalSetTargetPosition(int position)`
`boolean`	`isBusy()` Is the motor busy?
`void`	`resetDeviceConfigurationForOpMode()` Resets the device's configuration to that which is expected at the beginning of an OpMode.
`void`	`setDirection(DcMotorSimple.Direction direction)` Set the direction
`void`	`setMaxSpeed(int encoderTicksPerSecond)` When the motor is running in one of the PID modes the value set using the `setPower()` method is indicative of a desired motor velocity rather than a raw power level.
`void`	`setMode(DcMotor.RunMode mode)` Set the current mode
`void`	`setPower(double power)` Set the current motor power
`void`	`setPowerFloat()` Deprecated.
`void`	`setTargetPosition(int position)` Set the motor target position, using an integer.
`void`	`setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior)` Sets the behavior of the motor when a power level of zero is applied.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - controller
```
protected DcMotorController controller
```
  - portNumber
```
protected int portNumber
```
  - direction
```
protected DcMotorSimple.Direction direction
```
  - mode
```
protected DcMotor.RunMode mode
```
- Constructor Detail
  - DcMotorImpl
```
public DcMotorImpl(DcMotorController controller,
           int portNumber)
```
    Constructor
    
    Parameters:
    controller - DC motor controller this motor is attached to
    portNumber - portNumber position on the controller
  - DcMotorImpl
```
public DcMotorImpl(DcMotorController controller,
           int portNumber,
           DcMotorSimple.Direction direction)
```
    Constructor
    
    Parameters:
    controller - DC motor controller this motor is attached to
    portNumber - portNumber port number on the controller
    direction - direction this motor should spin
- Method Detail
  - getManufacturer
```
public HardwareDevice.Manufacturer getManufacturer()
```
    Description copied from interface: HardwareDevice
    
    Returns an indication of the manufacturer of this device.
    
    Specified by:
    
    getManufacturer in interface HardwareDevice
    
    Returns:
    the device's manufacturer
  - getDeviceName
```
public java.lang.String getDeviceName()
```
    Description copied from interface: HardwareDevice
    
    Returns a string suitable for display to the user as to the type of device
    
    Specified by:
    
    getDeviceName in interface HardwareDevice
    
    Returns:
    device manufacturer and name
  - getConnectionInfo
```
public java.lang.String getConnectionInfo()
```
    Description copied from interface: HardwareDevice
    
    Get connection information about this device in a human readable format
    
    Specified by:
    
    getConnectionInfo in interface HardwareDevice
    
    Returns:
    connection info
  - getVersion
```
public int getVersion()
```
    Description copied from interface: HardwareDevice
    
    Version
    
    Specified by:
    
    getVersion in interface HardwareDevice
    
    Returns:
    get the version of this device
  - resetDeviceConfigurationForOpMode
```
public void resetDeviceConfigurationForOpMode()
```
    Description copied from interface: HardwareDevice
    
    Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.
    
    Specified by:
    
    resetDeviceConfigurationForOpMode in interface HardwareDevice
  - close
```
public void close()
```
    Description copied from interface: HardwareDevice
    
    Closes this device
    
    Specified by:
    
    close in interface HardwareDevice
  - getController
```
public DcMotorController getController()
```
    Get DC motor controller
    
    Specified by:
    
    getController in interface DcMotor
    
    Returns:
    controller
    See Also:
    DcMotor.getPortNumber()
  - setDirection
```
public void setDirection(DcMotorSimple.Direction direction)
```
    Set the direction
    
    Specified by:
    
    setDirection in interface DcMotorSimple
    
    Parameters:
    direction - direction
    See Also:
    DcMotorSimple.getDirection()
  - getDirection
```
public DcMotorSimple.Direction getDirection()
```
    Get the direction
    
    Specified by:
    
    getDirection in interface DcMotorSimple
    
    Returns:
    direction
    See Also:
    DcMotorSimple.setDirection(Direction)
  - getPortNumber
```
public int getPortNumber()
```
    Get port number
    
    Specified by:
    
    getPortNumber in interface DcMotor
    
    Returns:
    portNumber
    See Also:
    DcMotor.getController()
  - setPower
```
public void setPower(double power)
```
    Set the current motor power
    
    Specified by:
    
    setPower in interface DcMotorSimple
    
    Parameters:
    power - from -1.0 to 1.0
    See Also:
    DcMotorSimple.getPower(), DcMotor.setMode(DcMotor.RunMode), DcMotor.setPowerFloat()
  - internalSetPower
```
protected void internalSetPower(double power)
```
  - setMaxSpeed
```
public void setMaxSpeed(int encoderTicksPerSecond)
```
    Description copied from interface: DcMotor
    
    When the motor is running in one of the PID modes the value set using the setPower() method is indicative of a desired motor velocity rather than a raw power level. In those modes, the setMaxSpeed() method provides the interpretation of the speed to which a value of 1.0 passed to setPower() should correspond.
    
    Specified by:
    
    setMaxSpeed in interface DcMotor
    
    Parameters:
    encoderTicksPerSecond - the maximum targetable speed for this motor when the motor is in one of the PID modes, in units of encoder ticks per second.
    See Also:
    DcMotor.RunMode.RUN_USING_ENCODER, DcMotor.RunMode.RUN_TO_POSITION, DcMotor.getMaxSpeed()
  - getMaxSpeed
```
public int getMaxSpeed()
```
    Description copied from interface: DcMotor
    
    Returns the current maximum targetable speed for this motor when the motor is running in one of the PID modes.
    
    Specified by:
    
    getMaxSpeed in interface DcMotor
    
    Returns:
    the current maximum targetable speed for this motor, in units of encoder ticks per second
    See Also:
    DcMotor.setMaxSpeed(int)
  - getPower
```
public double getPower()
```
    Get the current motor power
    
    Specified by:
    
    getPower in interface DcMotorSimple
    
    Returns:
    scaled from -1.0 to 1.0
    See Also:
    DcMotorSimple.setPower(double)
  - isBusy
```
public boolean isBusy()
```
    Is the motor busy?
    
    Specified by:
    
    isBusy in interface DcMotor
    
    Returns:
    true if the motor is busy
    See Also:
    DcMotor.setTargetPosition(int)
  - setZeroPowerBehavior
```
public void setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior)
```
    Description copied from interface: DcMotor
    
    Sets the behavior of the motor when a power level of zero is applied.
    
    Specified by:
    
    setZeroPowerBehavior in interface DcMotor
    
    Parameters:
    zeroPowerBehavior - the new behavior of the motor when a power level of zero is applied.
    See Also:
    DcMotor.ZeroPowerBehavior, DcMotorSimple.setPower(double)
  - getZeroPowerBehavior
```
public DcMotor.ZeroPowerBehavior getZeroPowerBehavior()
```
    Description copied from interface: DcMotor
    
    Returns the current behavior of the motor were a power level of zero to be applied.
    
    Specified by:
    
    getZeroPowerBehavior in interface DcMotor
    
    Returns:
    the current behavior of the motor were a power level of zero to be applied.
  - setPowerFloat
```
@Deprecated
public void setPowerFloat()
```
    Deprecated.
    
    Allow motor to float
    
    Specified by:
    
    setPowerFloat in interface DcMotor
    
    See Also:
    DcMotorSimple.setPower(double), DcMotor.getPowerFloat(), DcMotor.setZeroPowerBehavior(ZeroPowerBehavior)
  - getPowerFloat
```
public boolean getPowerFloat()
```
    Is motor power set to float?
    
    Specified by:
    
    getPowerFloat in interface DcMotor
    
    Returns:
    true of motor is set to float
    See Also:
    DcMotor.setPowerFloat()
  - setTargetPosition
```
public void setTargetPosition(int position)
```
    Set the motor target position, using an integer. If this motor has been set to REVERSE, the passed-in "position" value will be multiplied by -1.
    
    Specified by:
    
    setTargetPosition in interface DcMotor
    
    Parameters:
    position - range from Integer.MIN_VALUE to Integer.MAX_VALUE
    See Also:
    DcMotor.getCurrentPosition(), DcMotor.setMode(RunMode), DcMotor.RunMode.RUN_TO_POSITION, DcMotor.getTargetPosition(), DcMotor.isBusy()
  - internalSetTargetPosition
```
protected void internalSetTargetPosition(int position)
```
  - getTargetPosition
```
public int getTargetPosition()
```
    Get the current motor target position. If this motor has been set to REVERSE, the returned "position" will be multiplied by -1.
    
    Specified by:
    
    getTargetPosition in interface DcMotor
    
    Returns:
    integer, unscaled
    See Also:
    DcMotor.setTargetPosition(int)
  - getCurrentPosition
```
public int getCurrentPosition()
```
    Get the current encoder value. If this motor has been set to REVERSE, the returned "position" will be multiplied by -1.
    
    Specified by:
    
    getCurrentPosition in interface DcMotor
    
    Returns:
    double indicating current position
    See Also:
    DcMotor.getTargetPosition(), DcMotor.RunMode.STOP_AND_RESET_ENCODER
  - setMode
```
public void setMode(DcMotor.RunMode mode)
```
    Set the current mode
    
    Specified by:
    
    setMode in interface DcMotor
    
    Parameters:
    mode - run mode
    See Also:
    DcMotor.RunMode, DcMotor.getMode()
  - internalSetMode
```
protected void internalSetMode(DcMotor.RunMode mode)
```
  - getMode
```
public DcMotor.RunMode getMode()
```
    Get the current mode
    
    Specified by:
    
    getMode in interface DcMotor
    
    Returns:
    run mode
    See Also:
    DcMotor.RunMode, DcMotor.setMode(RunMode)

Class DcMotorImpl

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotor

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.DcMotorSimple

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

controller

portNumber

direction

mode

Constructor Detail

DcMotorImpl

DcMotorImpl

Method Detail

getManufacturer

getDeviceName

getConnectionInfo

getVersion

resetDeviceConfigurationForOpMode

close

getController

setDirection

getDirection

getPortNumber

setPower

internalSetPower

setMaxSpeed

getMaxSpeed

getPower

isBusy

setZeroPowerBehavior

getZeroPowerBehavior

setPowerFloat

getPowerFloat

setTargetPosition

internalSetTargetPosition

getTargetPosition

getCurrentPosition

setMode

internalSetMode

getMode