com.ridgesoft.robotics.effectors
Class DevantechMD03

java.lang.Object
  com.ridgesoft.robotics.effectors.DevantechMD03

All Implemented Interfaces:

Motor

public class DevantechMD03
extends Object
implements Motor

Class to interface with a Devantech MD03 motor driver attached to an I2C port.

Field Summary

Fields inherited from interface com.ridgesoft.robotics.Motor

MAX_FORWARD, MAX_REVERSE, STOP

Constructor Summary

DevantechMD03(I2CMaster i2cMaster, int deviceAddress)
Constructs a DevantechMD03 object.

Method Summary

void	brake() Active braking is not supported.
int	getSoftwareRevision() Gets the software revsion of the device's software.
void	setAcceleration(int value) Sets the motor controller's acceleration value (see MD03 documentation).
void	setPower(int power) Sets the motor's power.
void	stop() Turns motor power off and lets them coast.

Methods inherited from class java.lang.Object

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

Constructor Detail

DevantechMD03

public DevantechMD03(I2CMaster i2cMaster,
                     int deviceAddress)
              throws IOException

Constructs a DevantechMD03 object.

Parameters:

i2cMaster - I2C object for the bus the MD03 connects to

deviceAddress - I2C device address of the MD03

Throws:

IOException

Method Detail

brake

public void brake()

Active braking is not supported. This method has the same effect as setPower(0).

Specified by:

brake in interface Motor

getSoftwareRevision

public int getSoftwareRevision()
                        throws IOException

Gets the software revsion of the device's software.

Returns:

software revision number

Throws:

IOException

setAcceleration

public void setAcceleration(int value)
                     throws IOException

Sets the motor controller's acceleration value (see MD03 documentation).

Parameters:

value - acceleration (0 - 255, default 0)

Throws:

IOException

setPower

public void setPower(int power)

Sets the motor's power.

Specified by:

setPower in interface Motor

Parameters:

power - The power level to set. Should be between -16 and 16, inclusive. Positive is forward, negative is reverse and zero is coast.

stop

public void stop()

Turns motor power off and lets them coast. Has the the same effect as setPower(STOP).

Specified by:

stop in interface Motor