Package com.pocolifo.robobase.motor

Class Wheel

java.lang.Object

com.pocolifo.robobase.motor.Motor

com.pocolifo.robobase.motor.Wheel

All Implemented Interfaces:

AutoCloseable

public class Wheel
extends Motor

Represents a single wheel on the robot.

See Also:

• CarWheels

Field Summary

Fields

Modifier and Type	Field	Description
final double	circumferenceCm	The circumference of this wheel, in centimeters.
double	targetPosition	The target encoder position
final 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, double tickCount, double wheelDiameterCm)	Instantiate a Wheel.

Method Summary

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, getMotorRotations, getPosition, stopMoving

Methods inherited from class java.lang.Object

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

Field Details

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 double targetPosition

The target encoder position

Constructor Details

Wheel

public Wheel(com.qualcomm.robotcore.hardware.DcMotor motor,
 double 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 Details

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.