Package com.pocolifo.robobase.motor

Class NovelMotor

java.lang.Object

com.pocolifo.robobase.motor.NovelMotor

public class NovelMotor
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final int	gearRatio
final com.qualcomm.robotcore.hardware.DcMotorEx	motor
final double	ticksPerRevolution
final double	wheelDiameterInches

Constructor Summary

Constructors

Constructor	Description
NovelMotor(com.qualcomm.robotcore.hardware.DcMotorEx motor, double ticksPerRevolution, double wheelDiameterInches, int gearRatio)

Method Summary

Modifier and Type	Method	Description
static double	encoderTicksPerSecondToInchesPerSecond(double diameterIn, double ticksPerRevolution, double encoderTicksPerSecond)
double	encoderTicksToInches(double ticks)
double	getEncoderInches()
double	getMotorRotations()	gets the number of motor rotations
double	getVelocity()
static double	inchesPerSecondToEncoderTicksPerSecond(double diameterIn, double ticksPerRevolution, double inchesPerSecond)
double	inchesToEncoderTicks(double inches)
void	setPower(double power)
void	setTargetPositionInches(double centimeters)	Sets the target position in centimeters instead of motor ticks
void	setVelocity(double inchesPerSecond)
void	setZeroPowerBehavior(com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior behavior)

Methods inherited from class java.lang.Object

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

Field Details

motor

public final com.qualcomm.robotcore.hardware.DcMotorEx motor

ticksPerRevolution

public final double ticksPerRevolution

wheelDiameterInches

public final double wheelDiameterInches

gearRatio

public final int gearRatio

Constructor Details

NovelMotor

public NovelMotor(com.qualcomm.robotcore.hardware.DcMotorEx motor,
 double ticksPerRevolution,
 double wheelDiameterInches,
 int gearRatio)

Method Details

encoderTicksToInches

public double encoderTicksToInches(double ticks)

inchesToEncoderTicks

public double inchesToEncoderTicks(double inches)

getMotorRotations

public double getMotorRotations()

gets the number of motor rotations

setTargetPositionInches

public void setTargetPositionInches(double centimeters)

Sets the target position in centimeters instead of motor ticks

Parameters:

centimeters - How far the motor should move, in centimeters. Negative values move the wheel in reverse, and positive values move the wheel forward.

setPower

public void setPower(double power)

setZeroPowerBehavior

public void setZeroPowerBehavior(com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior behavior)

inchesPerSecondToEncoderTicksPerSecond

public static double inchesPerSecondToEncoderTicksPerSecond(double diameterIn,
 double ticksPerRevolution,
 double inchesPerSecond)

encoderTicksPerSecondToInchesPerSecond

public static double encoderTicksPerSecondToInchesPerSecond(double diameterIn,
 double ticksPerRevolution,
 double encoderTicksPerSecond)

setVelocity

public void setVelocity(double inchesPerSecond)

getEncoderInches

public double getEncoderInches()

getVelocity

public double getVelocity()

Returns:

The linear velocity in inches/second.