package lejos.nxt.addon;
import lejos.nxt.BasicMotorPort;
/*
* 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.
*/
/**
* Supports a motor connected to the Mindsensors RCX Motor Multiplexer
*
* @author Lawrie Griffiths
*
*/
public class RCXPlexedMotorPort implements BasicMotorPort {
private RCXMotorMultiplexer plex;
private int id;
public RCXPlexedMotorPort(RCXMotorMultiplexer plex, int id) {
this.plex = plex;
this.id = id;
}
public void controlMotor(int power, int mode) {
int mmMode = mode;
if (mmMode == 4) mmMode = 0; // float
int mmPower = (int) ((float)power * 2.55f);
if (mmMode == 3) mmPower = 255; // Maximum breaking
plex.setDirection(mmMode, id);
plex.setSpeed(mmPower, id);
}
public void setPWMMode(int mode) {
}
}