package lejos.nxt.addon;
import lejos.nxt.SensorPort;
/*
* WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS.
* DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.
*/
/**
* LDCMotor, Lattebox DC Motor, is a abstraction to model any DCMotor connected to
* LSC, Lattebox Servo Controller.
*
* @author Juan Antonio Brenha Moral
*
*/
public class LDCMotor extends LMotor{
private int speed;
private int forward_min_speed = 1020;
private int forward_max_speed = 850;
private int backward_min_speed = 1080;
private int backward_max_speed = 1230;
/**
* Constructor
*
* @param port
* @param location
* @param DCMotorName
* @param SPI_PORT
*
*/
public LDCMotor(SensorPort port, int location, String DCMotorName, byte SPI_PORT){
super(port,location,DCMotorName,SPI_PORT);
}
public LDCMotor(SensorPort port, int location, String DCMotorName, byte SPI_PORT,int forwardMinSpeed,int forwardMaxSpeed,int backwardMinSpeed, int backwardMaxSpeed){
super(port,location,DCMotorName,SPI_PORT);
this.forward_min_speed = forwardMinSpeed;
this.forward_max_speed = forwardMaxSpeed;
this.backward_min_speed = backwardMinSpeed;
this.backward_max_speed = backwardMaxSpeed;
}
/**
* Method to set the speed in a DC Motor
*
* @param speed the speed
*
*/
public void setSpeed(int speed){
this.setPulse(speed);
}
/**
*
* Method to get speed from the DC Motor
*
* @return the speed
*
*/
public int getSpeed(){
return this.getPulse();
}
public void setForwardMinSpeed(int min_speed){
this.forward_min_speed = min_speed;
}
public void setForwardMaxSpeed(int max_speed){
this.forward_max_speed = max_speed;
}
public void setBackwardMinSpeed(int min_speed){
this.backward_min_speed = min_speed;
}
public void setBackwardMaxSpeed(int max_speed){
this.backward_max_speed = max_speed;
}
}