PFMotorPort.java

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) { 	
	}
}