public void setGearRatio(int motor, double ratio) { m57a(motor); Range.throwIfRangeIsInvalid(ratio, HiTechnicNxtCompassSensor.INVALID_DIRECTION, 1.0d); int i = ADDRESS_MOTOR_GEAR_RATIO_MAP[motor]; byte[] bArr = new byte[MIN_MOTOR]; bArr[0] = (byte) ((int) (127.0d * ratio)); write(i, bArr); }
public void setMotorPower(int motor, double power) { m57a(motor); Range.throwIfRangeIsInvalid(power, HiTechnicNxtCompassSensor.INVALID_DIRECTION, 1.0d); int i = ADDRESS_MOTOR_POWER_MAP[motor]; byte[] bArr = new byte[MIN_MOTOR]; bArr[0] = (byte) ((int) (100.0d * power)); write(i, bArr); }
public void setMotorTargetPosition(int motor, int position) { m57a(motor); Range.throwIfRangeIsInvalid((double) position, -2.147483648E9d, 2.147483647E9d); write(ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP[motor], TypeConversion.intToByteArray(position)); }
public Gamepad getGamepad(int port) { Range.throwIfRangeIsInvalid((double) port, 0.0D, 1.0D); return this.gamepads[port]; }