Motor (raspoid 1.0 API)

java.lang.Object
- com.raspoid.brickpi.Motor

```
public class Motor
extends java.lang.Object
```
Class allowing to control a motor with the brickpi

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`ENC_LAP_VALUE` Contains the encoder value for turning one lap
`protected java.util.List<RangedValueListener>`	`listenersWithRange` Listeners with range argument needed.
`static int`	`MAX_POWER` Contains the max power that can be set
`static int`	`MIN_POWER` Contains the min power that can be set

Constructor Summary

Constructors
Constructor and Description

Motor()

Constructors
Constructor and Description
`Motor()`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`protected void`	`addListenerWithRange(RangedValueListener listener)`
`protected boolean`	`encodersInitialized()` Returns true if the encoder value has been initialized.
`double`	`getDiameter()` Get the diameter (cm) configured for a wheel attached on the motor.
`int`	`getEncoderValue()` Returns a calculated value for the encoder of the motor.
`double`	`getKd()` Returns the derivative gain used for this motor's PID
`double`	`getKi()` Returns the integral gain used for this motor's PID
`double`	`getKp()` Returns the proportional gain used for this motor's PID
`int`	`getPower()` Returns the value of the power applied to the motor.
`void`	`move(double distance, int initPower)` Rotates the motor to travel a specific distance (cm) using a PID eval loop. The diameter of the wheel attached to the motor should be properly set before calling this method.
`java.lang.Thread`	`moveNonBlocking(double distance, int initPower)` Rotates the motor to travel a specific distance (cm) using a PID eval loop. The diameter of the wheel attached to the motor should be properly set before calling this method.
`void`	`onChange(int rangeValue, ValueListener listener)` Adds a listener that will be triggered as soon as the encoder value has changed for more than range value, wrt.
`void`	`onRotate(ValueListener listener)` Adds a listener that will be triggered each time a full rotation has been done.
`void`	`removeListener(RangedValueListener listener)` Removes the specified RangedValueListener if present in the listeners
`void`	`removeListener(ValueListener listener)` Removes the specified ValueListener if present in the listeners
`void`	`rotate(double nbRotations, int initPower)` Rotate the motor for a specified number of rotations using a PID eval loop.
`java.lang.Thread`	`rotateNonBlocking(double nbRotations, int initPower)` Rotate the motor for a specified number of rotations using a PID eval loop.
`void`	`setDiameter(double diameter)` Configure the diameter (cm) for a wheel attached on the motor
`void`	`setEncoderValue(int realEncoderValue)` Sets the value of the encoder of the motor.
`void`	`setPidParams(double kp, double ki, double kd)` Sets the PID gains to be used with this motor.
`void`	`setPower(int power)` Sets the power of the motor, with a value in the [-255; 255] range.
`void`	`stop()` Stops the motor.
`java.lang.String`	`toString()`
`static void`	`waitAllFinished(java.lang.Thread[] threads)` This utility method is used as a barrier: each Thread given in parameter must be finished, before the method stops. This allows to have a blocking method combining non-blocking actions.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - MIN_POWER
```
public static final int MIN_POWER
```
    Contains the min power that can be set
    
    See Also:
    
    Constant Field Values
  - MAX_POWER
```
public static final int MAX_POWER
```
    Contains the max power that can be set
    
    See Also:
    
    Constant Field Values
  - ENC_LAP_VALUE
```
public static final int ENC_LAP_VALUE
```
    Contains the encoder value for turning one lap
    
    See Also:
    
    Constant Field Values
  - listenersWithRange
```
protected java.util.List<RangedValueListener> listenersWithRange
```
    Listeners with range argument needed.
- Constructor Detail
  - Motor
```
public Motor()
```
- Method Detail
  - getDiameter
```
public double getDiameter()
```
    Get the diameter (cm) configured for a wheel attached on the motor.
    
    Returns:
    
    the diameter configured in centimeters
  - setDiameter
```
public void setDiameter(double diameter)
```
    Configure the diameter (cm) for a wheel attached on the motor
    
    Parameters:
    
    diameter - the diameter size in centimeters
  - getKp
```
public double getKp()
```
    Returns the proportional gain used for this motor's PID
    
    Returns:
    
    the proportional gain configured
  - getKi
```
public double getKi()
```
    Returns the integral gain used for this motor's PID
    
    Returns:
    
    the integral gain configured
  - getKd
```
public double getKd()
```
    Returns the derivative gain used for this motor's PID
    
    Returns:
    
    the derivative gain configured
  - setPidParams
```
public void setPidParams(double kp,
                         double ki,
                         double kd)
```
    Sets the PID gains to be used with this motor. You should tune your values to balance precision, rapidity and precision depending on your needs. The diameter of the wheel, initial power and weight of your robot will affect the PID and the gains should be tune accordingly.
    
    Parameters:
    
    kp - the proportional gain to use with pid
    
    ki - the integral gain to use with pid
    
    kd - the derivative gain to use with pid
  - getPower
```
public int getPower()
```
    Returns the value of the power applied to the motor.
    
    Returns:
    
    the value of the power applied to the motor, in the [-255;255] range.
  - setPower
```
public void setPower(int power)
```
    Sets the power of the motor, with a value in the [-255; 255] range. Negative values are used for counterclockwise.
    
    Parameters:
    
    power - the new power of the motor, in the [-255;255] range.
  - stop
```
public void stop()
```
    Stops the motor.
  - setEncoderValue
```
public void setEncoderValue(int realEncoderValue)
```
    Sets the value of the encoder of the motor. This is used to update the realEncoderValue of the motor when an update is received from the brick pi.
    
    Parameters:
    
    realEncoderValue - the new value for the encoder.
  - encodersInitialized
```
protected boolean encodersInitialized()
```
    Returns true if the encoder value has been initialized. This is used to detect the first encoder value received from the real NXT motors.
    
    Returns:
    
    true if the encoder value has been initialized. False otherwhise.
  - getEncoderValue
```
public int getEncoderValue()
```
    Returns a calculated value for the encoder of the motor. This value is based on the realEncoderValue (real value from the NXT motor) and the encoder value offset.
    
    Returns:
    
    the real encoder value - the encoder value offset.
  - onChange
```
public void onChange(int rangeValue,
                     ValueListener listener)
```
    Adds a listener that will be triggered as soon as the encoder value has changed for more than range value, wrt. the last triggered event.
    
    Parameters:
    
    rangeValue - the value range before an event is triggered.
    
    listener - the new listener added to the list of listeners of the motor.
  - onRotate
```
public void onRotate(ValueListener listener)
```
    Adds a listener that will be triggered each time a full rotation has been done.
    
    Parameters:
    
    listener - the listener that will be triggered on a completed rotation
  - rotate
```
public void rotate(double nbRotations,
                   int initPower)
```
    Rotate the motor for a specified number of rotations using a PID eval loop.
    This method is blocking.
    
    Parameters:
    
    nbRotations - the number of rotations to perform.
    
    initPower - the initial power applied which is also the upper power bound used by the PID.
  - rotateNonBlocking
```
public java.lang.Thread rotateNonBlocking(double nbRotations,
                                          int initPower)
```
    Rotate the motor for a specified number of rotations using a PID eval loop.
    This method is non-blocking.
    
    Parameters:
    
    nbRotations - the number of rotations to perform.
    
    initPower - the initial power applied which is also the upper power bound used by the PID.
    
    Returns:
    
    the Thread used to execute the action.
    
    See Also:
    
    rotate(double, int)
  - move
```
public void move(double distance,
                 int initPower)
```
    Rotates the motor to travel a specific distance (cm) using a PID eval loop.
    The diameter of the wheel attached to the motor should be properly set before calling this method.
    This method is blocking.
    
    Parameters:
    
    distance - the distance to travel, in centimeters.
    
    initPower - the initial power applied, which is also the upper power bound used by the PID.
  - moveNonBlocking
```
public java.lang.Thread moveNonBlocking(double distance,
                                        int initPower)
```
    Rotates the motor to travel a specific distance (cm) using a PID eval loop.
    The diameter of the wheel attached to the motor should be properly set before calling this method.
    This method is non-blocking.
    
    Parameters:
    
    distance - the distance to travel, in centimeters.
    
    initPower - the initial power applied, which is also the upper power bound used by the PID.
    
    Returns:
    
    the Thread used to execute the action.
  - waitAllFinished
```
public static void waitAllFinished(java.lang.Thread[] threads)
```
    This utility method is used as a barrier: each Thread given in parameter must be finished, before the method stops.
    This allows to have a blocking method combining non-blocking actions.
    As an example, it is possible to rotate 2 motors at the same time, and wait that the rotations are finished on both motors to consider the complete action as finished.
    
    This method is blocking.
    
    Parameters:
    
    threads - the Threads to consider for the barrier.
  - removeListener
```
public void removeListener(RangedValueListener listener)
```
    Removes the specified RangedValueListener if present in the listeners
    
    Parameters:
    
    listener - the RangedValueListener to be removed
  - removeListener
```
public void removeListener(ValueListener listener)
```
    Removes the specified ValueListener if present in the listeners
    
    Parameters:
    
    listener - the ValueListener to be removed
  - addListenerWithRange
```
protected void addListenerWithRange(RangedValueListener listener)
```
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object

Class Motor

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MIN_POWER

MAX_POWER

ENC_LAP_VALUE

listenersWithRange

Constructor Detail

Motor

Method Detail

getDiameter

setDiameter

getKp

getKi

getKd

setPidParams

getPower

setPower

stop

setEncoderValue

encodersInitialized

getEncoderValue

onChange

onRotate

rotate

rotateNonBlocking

move

moveNonBlocking

waitAllFinished

removeListener

removeListener

addListenerWithRange

toString