package lejos.nxt.addon;
import lejos.nxt.*;
/**
* MotorPort for PF Motors using HiTechnic IRLink
*
* @author Lawrie Griffiths
*
*/
public class PFMotorPort implements BasicMotorPort {
private int channel, slot;
private IRLink link;
private static final int[] modeTranslation = {1,2,3,0};
public PFMotorPort(IRLink link, int channel, int slot) {
this.channel = channel;
this.slot = slot;
this.link = link;
}
public void controlMotor(int power, int mode) {
System.out.println("slot = " + slot + " mode = " + modeTranslation[mode-1]);
link.sendPFComboDirect(channel, (slot == 0 ? modeTranslation[mode-1] : 0), (slot == 1 ? modeTranslation[mode-1] : 0));
}
public void setPWMMode(int mode) {
}
}