Wheel (RoboBase)

java.lang.Object
- com.pocolifo.robobase.motor.Motor
- - com.pocolifo.robobase.motor.Wheel

All Implemented Interfaces:

java.lang.AutoCloseable
```
public class Wheel
extends Motor
```
Represents a single wheel on the robot.

See Also:

CarWheels

Field Summary

Fields
Modifier and Type	Field	Description
`double`	`circumferenceCm`	The circumference of this wheel, in centimeters.
`int`	`targetPosition`	The target encoder position
`double`	`wheelDiameterCm`	The diameter of this wheel, in centimeters.

Fields inherited from class com.pocolifo.robobase.motor.Motor
motor, tickCount

Constructor Summary

Constructors
Constructor Description

Wheel(com.qualcomm.robotcore.hardware.DcMotor motor, int tickCount, double wheelDiameterCm)
Instantiate a Wheel.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type Method Description

void setDriveTarget(double centimeters)
Sets how far the motor should move (in centimeters).
- Methods inherited from class com.pocolifo.robobase.motor.Motor
  close, drive, stopMoving
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - wheelDiameterCm
```
public final double wheelDiameterCm
```
    The diameter of this wheel, in centimeters.
  - circumferenceCm
```
public final double circumferenceCm
```
    The circumference of this wheel, in centimeters.
  - targetPosition
```
public int targetPosition
```
    The target encoder position
- Constructor Detail
  - Wheel
```
public Wheel(com.qualcomm.robotcore.hardware.DcMotor motor,
             int tickCount,
             double wheelDiameterCm)
```
    Instantiate a Wheel.
    
    Parameters:
    
    motor - The DcMotor that is associated with this Motor.
    
    tickCount - The number of ticks for a full revolution of this motor.
    
    wheelDiameterCm - The diameter of the wheel in real life, in centimeters.
- Method Detail
  - setDriveTarget
```
public void setDriveTarget(double centimeters)
```
    Sets how far the motor should move (in centimeters).
    
    Parameters:
    
    centimeters - How far the motor should move, in centimeters. Negative values move the wheel in reverse, and positive values move the wheel forward.