/* * handleMotors * * Oscillate the motors. */ protected void handleMotors() { if ((firstMotors) || (motorOscTimer.time() > MOTOR_OSC_FREQ)) { motorPower = -motorPower; /* * The MatrixDcMotorController's setMotorPower() method may take * a collection of motors. If this is chosen, then the controller will * set a pending bit. The pending bit tells the controller to * defer turning on, or changing the current set point, for a motor * until the pending bit is cleared. * * When the pending bit is cleared all motor power values are applied * simultaneously. setMotorPower() handles the pending bit for you. */ mc.setMotorPower(motorSet, motorPower); motorOscTimer.reset(); firstMotors = false; } }