4 * Supports a motor connected to a remote RCX via a mindsensord NRLink adapter
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6 * @author Lawrie Griffiths
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9 public class RCXRemoteMotorPort implements BasicMotorPort {
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10 private RCXLink link;
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12 private boolean started = false;
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13 private int oldPower = -1;
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15 public RCXRemoteMotorPort(RCXLink link, int id) {
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19 public void controlMotor(int power, int mode) {
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20 //LCD.drawInt(id, 0, 0);
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21 //LCD.drawInt(power,4,0,1);
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22 //LCD.drawInt(mode,0,2);
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25 int power7 = (int) (power/12.5);
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27 if (power7 > 7) power7 = 7;
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29 if ((mode == 1 || mode == 2) && !started) {
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30 link.startMotor(id);
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33 } else started = false;
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35 if (power != oldPower) {
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36 link.setMotorPower(id, power7);
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40 if (mode == 1) link.forward(id);
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41 else if (mode == 2) link.backward(id);
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42 else if (mode == 3) link.stopMotor(id);
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43 else if (mode == 4) link.fltMotor(id);
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48 private void sleep() {
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51 } catch (InterruptedException e) {}
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54 public void setPWMMode(int mode) {
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