com.diozero.api.motor

Class DualMotor

java.lang.Object

com.diozero.api.motor.DualMotor

All Implemented Interfaces:

Closeable, AutoCloseable

Direct Known Subclasses:

CamJamKitDualMotor, RyanteckDualMotor, TB6612FNGDualMotorDriver

public class DualMotor
extends Object
implements Closeable

Generic dual bi-directional motor driver

Constructor Summary

Constructors

Constructor and Description
DualMotor(MotorInterface leftMotor, MotorInterface rightMotor)

Method Summary

Modifier and Type	Method and Description
void	backward(float speed)
void	backwardLeft(float speed)
void	backwardRight(float speed)
void	circleLeft(float speed, float turnRate)
void	circleRight(float speed, float turnRate)
void	close()
void	forward(float speed)
void	forwardLeft(float speed)
void	forwardRight(float speed)
MotorInterface	getLeftMotor()
MotorInterface	getRightMotor()
float[]	getValues()
void	reverse()
void	rotateLeft(float speed)
void	rotateRight(float speed)
void	setValues(float leftValue, float rightValue) Set the speed and direction for both motors (clockwise / counter-clockwise)
void	stop()

Methods inherited from class java.lang.Object

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

Constructor Detail

DualMotor

public DualMotor(MotorInterface leftMotor,
                 MotorInterface rightMotor)

Method Detail

close

public void close()

Specified by:

close in interface Closeable

Specified by:

close in interface AutoCloseable

getValues

public float[] getValues()
                  throws RuntimeIOException

Throws:

RuntimeIOException

setValues

public void setValues(float leftValue,
                      float rightValue)
               throws RuntimeIOException

Set the speed and direction for both motors (clockwise / counter-clockwise)

Parameters:

leftValue - Range -1 .. 1. Positive numbers for clockwise, Negative numbers for counter clockwise

rightValue - Range -1 .. 1. Positive numbers for clockwise, Negative numbers for counter clockwise

Throws:

RuntimeIOException - if an I/O error occurs

forward

public void forward(float speed)
             throws RuntimeIOException

Throws:

RuntimeIOException

backward

public void backward(float speed)
              throws RuntimeIOException

Throws:

RuntimeIOException

rotateLeft

public void rotateLeft(float speed)
                throws RuntimeIOException

Throws:

RuntimeIOException

rotateRight

public void rotateRight(float speed)
                 throws RuntimeIOException

Throws:

RuntimeIOException

forwardLeft

public void forwardLeft(float speed)
                 throws RuntimeIOException

Throws:

RuntimeIOException

forwardRight

public void forwardRight(float speed)
                  throws RuntimeIOException

Throws:

RuntimeIOException

backwardLeft

public void backwardLeft(float speed)
                  throws RuntimeIOException

Throws:

RuntimeIOException

backwardRight

public void backwardRight(float speed)
                   throws RuntimeIOException

Throws:

RuntimeIOException

reverse

public void reverse()
             throws RuntimeIOException

Throws:

RuntimeIOException

circleLeft

public void circleLeft(float speed,
                       float turnRate)

circleRight

public void circleRight(float speed,
                        float turnRate)

stop

public void stop()
          throws RuntimeIOException

Throws:

RuntimeIOException

getLeftMotor

public MotorInterface getLeftMotor()

getRightMotor

public MotorInterface getRightMotor()