GenericGear

java.lang.Object
- ch.aplu.ev3.Part
- - ch.aplu.ev3.GenericGear

Direct Known Subclasses:

Gear, NxtGear
```
public abstract class GenericGear
extends Part
```
Abstract class that represents the combination of two motors on an axis to perform a car-like movement.

Method Summary

Methods
Modifier and Type	Method and Description
`GenericGear`	`backward()` Same as forward(), but move in reverse direction.
`GenericGear`	`backward(int duration)` Same as forward(int duration), but move in reverse direction.
`GenericGear`	`forward()` Starts the forward movement with preset speed.
`GenericGear`	`forward(int duration)` Starts the forward movement for the given duration (in ms) with preset speed.
`int`	`getLeftMotorCount()` Returns current value of the rotation counter of the left motor.
`int`	`getRightMotorCount()` Returns current value of the rotation counter of the right motor.
`int`	`getSpeed()` Returns the current speed (arbitrary units).
`double`	`getVelocity()` Returns the current velocity.
`boolean`	`isMoving()` Checks if one or both motors are rotating.
`GenericGear`	`left()` Starts turning left with left motor stopped and right motor at preset speed.
`GenericGear`	`left(int duration)` Starts turning left for the given duration (in ms) with preset speed.
`GenericGear`	`leftArc(double radius)` Starts turning to the left on an arc with given radius (in m).
`GenericGear`	`leftArc(double radius, int duration)` Starts turning to the left on an arc with given radius (in m) for the given duration (in ms) with preset speed.
`GenericGear`	`moveTo(int count)` Same as moveTo(int count, boolean blocking) with blocking = true.
`GenericGear`	`moveTo(int count, boolean blocking)` Sets the rotation counter to zero and rotate both motors until the given count is reached.
`void`	`resetLeftMotorCount()` Resets the rotation counter of the left motor to zero.
`void`	`resetRightMotorCount()` Resets the rotation counter of the right motor to zero.
`GenericGear`	`right()` Same as left(), but turns in the opposite direction.
`GenericGear`	`right(int duration)` Same as left(int duration), but turning in the opposite direction.
`GenericGear`	`rightArc(double radius)` Same as leftArc(double radius), but turns in the right.
`GenericGear`	`rightArc(double radius, int duration)` Same as leftArc(double radius, int duration), but turns to the right.
`GenericGear`	`setAcceleration(int acceleration)` Sets the acceleration rate of both motors in degrees/sec/sec Smaller values make speed changes smoother.
`GenericGear`	`setSpeed(int speed)` Sets the speed to the given value (arbitrary units).
`void`	`setSpeedFactor(double value)` Sets the motor speed factor to given value.
`GenericGear`	`setVelocity(double velocity)` Sets the velocity to the given value.
`double`	`speedToVelocity(int speed)` Conversion from speed to velocity.
`GenericGear`	`stop()` Stops the gear.
`GenericGear`	`turnTo(int count)` Same as turnTo(int count, boolean blocking) with blocking = true.
`GenericGear`	`turnTo(int count, boolean blocking)` Sets the rotation counter to zero and turn with the motors running in opposite direction.
`int`	`velocityToSpeed(double velocity)` Conversion from velocity to speed.

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

- Method Detail
  - getSpeed
```
public int getSpeed()
```
    Returns the current speed (arbitrary units).
    
    Returns:
    speed 0..100
  - getVelocity
```
public double getVelocity()
```
    Returns the current velocity. The velocity in m/s with some inaccuracy.
    velocity = MotorSpeedFactor * speed (default: MotorSpeedFactor set in ev3jlib.properties).
    
    Returns:
    velocity in m/s
  - setSpeed
```
public GenericGear setSpeed(int speed)
```
    Sets the speed to the given value (arbitrary units). The speed will be changed to the new value at the next movement call only.
    
    Parameters:
    speed - 0..100
    
    Returns:
    the object reference to allow method chaining
  - setAcceleration
```
public GenericGear setAcceleration(int acceleration)
```
    Sets the acceleration rate of both motors in degrees/sec/sec Smaller values make speed changes smoother.
    
    Parameters:
    acceleration - the new accelaration
  - setVelocity
```
public GenericGear setVelocity(double velocity)
```
    Sets the velocity to the given value. The velocity will be changed to the new value at the next movement call only.
    velocity = MotorSpeedFactor * speed (default MotorSpeedFactor set in ev3jlib.properties).
    
    Parameters:
    velocity - in m/s
    
    Returns:
    the object reference to allow method chaining.
  - stop
```
public GenericGear stop()
```
    Stops the gear. (If gear is already stopped, returns immediately.)
    
    Returns:
    the object reference to allow method chaining.
  - moveTo
```
public GenericGear moveTo(int count,
                 boolean blocking)
```
    Sets the rotation counter to zero and rotate both motors until the given count is reached. If count is negative, the motors turn backwards. If blocking = false, the method returns immediately. You may register a motion listener with addMotionListener() to get a callback when the count is reached and the motors stop. If blocking = true, the method returns when the count is reached and the motors stop.
    The motors start smoothly if the speed is not too fast.
    
    Returns:
    the object reference to allow method chaining
    See Also:
    moveTo(int count)
  - moveTo
```
public GenericGear moveTo(int count)
```
    Same as moveTo(int count, boolean blocking) with blocking = true.
    
    See Also:
    moveTo(int count, boolean blocking)
  - turnTo
```
public GenericGear turnTo(int count)
```
    Same as turnTo(int count, boolean blocking) with blocking = true.
    
    See Also:
    turnTo(int count, boolean blocking)
  - turnTo
```
public GenericGear turnTo(int count,
                 boolean blocking)
```
    Sets the rotation counter to zero and turn with the motors running in opposite direction. If count is positive, turns clockwise, otherwise anti-clockwise (MotorPort.A is right, MotorPort.B is left motor). If blocking = false, the method returns immediately. If blocking = true, the method returns when the count is reached and the motors stop.
    
    Returns:
    the object reference to allow method chaining.
    See Also:
    turnTo(int count)
  - forward
```
public GenericGear forward()
```
    Starts the forward movement with preset speed. Method returns, while the movement continues. (If gear is already moving forward, returns immediately.)
    
    Returns:
    the object reference to allow method chaining.
  - forward
```
public GenericGear forward(int duration)
```
    Starts the forward movement for the given duration (in ms) with preset speed. Method returns at the end of the given duration, but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. Calling several movement methods one after the other will result a seamless movement without intermediate stops.
    To use it without problems in a callback method, it returns quickly when LegoRobot.disconnect is called.
    
    Parameters:
    duration - the duration (in ms)
    
    Returns:
    the object reference to allow method chaining
  - backward
```
public GenericGear backward()
```
    Same as forward(), but move in reverse direction.
    
    See Also:
    forward()
  - backward
```
public GenericGear backward(int duration)
```
    Same as forward(int duration), but move in reverse direction.
    
    See Also:
    forward(int duration)
  - left
```
public GenericGear left()
```
    Starts turning left with left motor stopped and right motor at preset speed. Method returns, while the movement continues. (If gear is already turning left, returns immediately.)
    
    Returns:
    the object reference to allow method chaining
  - left
```
public GenericGear left(int duration)
```
    Starts turning left for the given duration (in ms) with preset speed. Method returns at the end of the given duration but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. Calling several movement methods one after the other will result a seamless movement without intermediate stops.
    
    Parameters:
    duration - the duration (in ms)
    
    Returns:
    the object reference to allow method chaining
  - right
```
public GenericGear right()
```
    Same as left(), but turns in the opposite direction.
    
    See Also:
    left()
  - right
```
public GenericGear right(int duration)
```
    Same as left(int duration), but turning in the opposite direction.
    
    See Also:
    left(int duration)
  - leftArc
```
public GenericGear leftArc(double radius)
```
    Starts turning to the left on an arc with given radius (in m). If the radius is negative, turns left backwards. The accuracy is limited and depends on the distance between the two wheels (default: AxeLength set in ev3jlib.properties). Method returns, while the movement continues. (If gear is already moving on an arc with given radius, returns immediately.)
    
    Parameters:
    radius - the radius of the arc (in m)
    
    Returns:
    the object reference to allow method chaining
  - leftArc
```
public GenericGear leftArc(double radius,
                  int duration)
```
    Starts turning to the left on an arc with given radius (in m) for the given duration (in ms) with preset speed. If the radius is negative, turns left backwards. The accuracy is limited and depends on the distance between the two wheels (default: AxeLength set in ev3jlib.properties). Method returns at the end of the given duration but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. Calling several movement methods one after the other will result a seamless movement without intermediate stops.
    
    Parameters:
    radius - the radius of the arc (in m)
    duration - the duration (in ms)
    
    Returns:
    the object reference to allow method chaining
  - rightArc
```
public GenericGear rightArc(double radius)
```
    Same as leftArc(double radius), but turns in the right.
    
    See Also:
    leftArc(double radius)
  - rightArc
```
public GenericGear rightArc(double radius,
                   int duration)
```
    Same as leftArc(double radius, int duration), but turns to the right.
    
    See Also:
    leftArc(double radius, int duration)
  - isMoving
```
public boolean isMoving()
```
    Checks if one or both motors are rotating.
    
    Returns:
    true, if gear is moving, otherwise false
  - setSpeedFactor
```
public void setSpeedFactor(double value)
```
    Sets the motor speed factor to given value. Formula: velocity = speedFactor * speed where velocity is in m/s and speed is value used in setSpeed() Default: Set in nxtlib.properties
    
    Parameters:
    value - the velocity per speed unit
  - speedToVelocity
```
public double speedToVelocity(int speed)
```
    Conversion from speed to velocity.
    
    Parameters:
    speed - the speed as set in setSpeed()
    
    Returns:
    the velocity in m/s
  - velocityToSpeed
```
public int velocityToSpeed(double velocity)
```
    Conversion from velocity to speed.
    
    Parameters:
    velocity - the velocity in m/s
    
    Returns:
    the speed as set in setSpeed()
  - getLeftMotorCount
```
public int getLeftMotorCount()
```
    Returns current value of the rotation counter of the left motor.
    
    Returns:
    the value of the left motor's rotation counter
  - getRightMotorCount
```
public int getRightMotorCount()
```
    Returns current value of the rotation counter of the right motor.
    
    Returns:
    the value of the right motor's rotation counter
  - resetLeftMotorCount
```
public void resetLeftMotorCount()
```
    Resets the rotation counter of the left motor to zero. Keep in mind that this may influence other actions in progress.
  - resetRightMotorCount
```
public void resetRightMotorCount()
```
    Resets the rotation counter of the right motor to zero. Keep in mind that this may influence other actions in progress.

Class GenericGear

Method Summary

Methods inherited from class java.lang.Object

Method Detail

getSpeed

getVelocity

setSpeed

setAcceleration

setVelocity

stop

moveTo

moveTo

turnTo

turnTo

forward

forward

backward

backward

left

left

right

right

leftArc

leftArc

rightArc

rightArc

isMoving

setSpeedFactor

speedToVelocity

velocityToSpeed

getLeftMotorCount

getRightMotorCount

resetLeftMotorCount

resetRightMotorCount