Package com.pocolifo.robobase.motor

Class DoubleMotor

java.lang.Object

com.pocolifo.robobase.motor.DoubleMotor

All Implemented Interfaces:

AutoCloseable

public class DoubleMotor
extends Object
implements AutoCloseable

Represents a synchronized two-motor assembly, such as an intake, an outtake, linear slides, etc.

Field Summary

Fields

Modifier and Type	Field	Description
final Motor	motor1	The DcMotors associated with this motor.
final Motor	motor2

Constructor Summary

Constructors

Constructor	Description
DoubleMotor(Motor motor1, Motor motor2, double motor1Coefficient, double motor2Coefficient)	Instantiate a DoubleMotor.

Method Summary

Modifier and Type	Method	Description
void	close()	Closes the internal Motor devices.
double	getMotorRotations()	gets the number of motor rotations
int	getPosition()	Gets the current encoder position
void	spin(double speed)	Starts moving the motor at a given speed.
void	stopMoving()	Stop the movement of the motor.

Methods inherited from class java.lang.Object

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

Field Details

motor1

public final Motor motor1

The DcMotors associated with this motor.

motor2

public final Motor motor2

Constructor Details

DoubleMotor

public DoubleMotor(Motor motor1,
 Motor motor2,
 double motor1Coefficient,
 double motor2Coefficient)

Instantiate a DoubleMotor. Also uses an encoder.

Parameters:

motor1 - The first Motor that is associated with this DoubleMotor.

motor2 - The second Motor that is associated with this DoubleMotor. MUST BE THE SAME KIND OF MOTOR!

motor1Coefficient - Coefficient of power for motor1

motor2Coefficient - Coefficient of power for motor2

Method Details

spin

public void spin(double speed)

Starts moving the motor at a given speed.

Parameters:

speed - Determines the speed at which the motor should move.

stopMoving

public void stopMoving()

Stop the movement of the motor.

getPosition

public int getPosition()

Gets the current encoder position

getMotorRotations

public double getMotorRotations()

gets the number of motor rotations

close

public void close()

Closes the internal Motor devices. THIS SHOULD BE CALLED WHEN MOTORS ARE DONE BEING USED!

Specified by:

close in interface AutoCloseable