@Override
public boolean motorAttach(
String motorName, String type, Integer pwrPin, Integer dirPin, Integer encoderPin) {
ServiceInterface sw = Runtime.getService(motorName);
if (!sw.isLocal()) {
error("motor needs to be in same instance of mrl as controller");
return false;
}
Motor m = (Motor) sw;
m.setController(this);
m.broadcastState();
return true;
}
/**
* creates a DC Motor on port 1,2,3, or 4
*
* @param motorNum
* @throws Exception
*/
public Motor createDCMotor(Integer motorNum) throws Exception {
if (motorNum == null || motorNum < 1 || motorNum > 4) {
error(String.format("motor number should be 1,2,3,4 not %d", motorNum));
return null;
}
String motorName = String.format("%s_m%d", getName(), motorNum);
deviceNameToNumber.put(motorName, motorNum);
Motor m = new Motor(motorName);
m.startService();
motors.put(motorName, m);
m.broadcastState();
m.setController(this);
return m;
}
