Public Member Functions
synchronized void	delete ()

	SmartDrive (int i2c_bus, int address)

	SmartDrive (int i2c_bus)

void	command (short cmd)

float	GetBattVoltage ()

long	ReadTachometerPosition (int motor_id)

void	Run_Unlimited (int motor_id, int direction, short speed)

void	StopMotor (int motor_id, int next_action)

void	Run_Seconds (int motor_id, int direction, short speed, short duration, boolean wait_for_completion, int next_action)

void	WaitUntilTimeDone (int motor_id)

boolean	IsTimeDone (int motor_id)

void	Run_Degrees (int motor_id, int direction, short speed, long degrees, boolean wait_for_completion, int next_action)

void	Run_Rotations (int motor_id, int direction, short speed, long rotations, boolean wait_for_completion, int next_action)

void	Run_Tacho (int motor_id, short speed, long tacho_count, boolean wait_for_completion, int next_action)

void	WaitUntilTachoDone (int motor_id)

boolean	IsTachoDone (int motor_id)

void	SetPerformanceParameters (int Kp_tacho, int Ki_tacho, int Kd_tacho, int Kp_speed, int Ki_speed, int Kd_speed, short passcount, short tolerance)

void	ReadPerformanceParameters ()

short	GetMotorStatus (int motor_id)

void	PrintMotorStatus (int motor_id)

Protected Member Functions
	SmartDrive (long cPtr, boolean cMemoryOwn)

void	finalize ()

Static Protected Member Functions
static long	getCPtr (SmartDrive obj)

The documentation for this class was generated from the following file:

Public Member Functions

Protected Member Functions