Motor

First of all, you have to create LegoPort, as mentioned in tutorial LegoPort.

LegoPort port = new LegoPort(LegoPort.OUTPUT_A);

Then, we can play with the motors now! Import the Motor class.

import org.ev3dev.hardware.Motor;

And then, create a new instance of it.

Motor motor = new Motor(port); //Use the last created port

You can command it with different commands:

• motor.runForever() A function to cause the motor to run until another command is sent
• motor.runToAbsPos() A function to run to an absolute position specified by setPosition_SP(int pos)
• motor.runToRelPos() A function to run to an position relative to the current position value.
• motor.runTimed() A function to run the motor for the amount of time specified in setTime_SP(int ms)
• motor.runDirect() A function to run the motor at the duty cycle specified by setDutyCycle_SP(int dutycycle_sp)
• motor.stop() A function to stop any of the run commands before they are complete using the command specified by setStopCommand(String command)
• motor.reset() A function to reset all of the motor parameter attributes to their default value. This will also have the effect of stopping the motor.

Example code:

public static void main(String[] args) throws IOException, InvalidException{
    LegoPort port = new LegoPort(LegoPort.OUTPUT_A);
    Motor motor = new Motor(port);
    motor.setTime_SP(5000);
    motor.setDutyCycle_SP(50);
    motor.runTimed();
}

Advanced functions please check the JavaDoc for more information.

Other motors

All motors listed in http://www.ev3dev.org/docs/motors/ are supported. Keep in mind that all Power Functions motors are not automatically detected, and they use the DCMotor class.

Manufacturer	P/N	Name	Auto-detected	Supported
Actuonix	L12-EV3-100	L12 EV3 100mm	No	Yes
Actuonix	L12-EV3-50	L12 EV3 50mm	No	Yes
Lego	43362	Motor 9V Mini-motor, newer lighter weight	No	Via DCMotor
Lego	45502	EV3 Large Servo Motor	Yes	Yes
Lego	45503	EV3 Medium Servo Motor	Yes	Yes
Lego	47154	Technic Motor 9V Geared	No	Via DCMotor
Lego	70823	Motor 9V Micromotor	No	Via DCMotor
Lego	71427	Motor 9V Mini-motor, older heavier weight	No	Via DCMotor
Lego	74569	Technic Motor 9V	No	Via DCMotor
Lego	88002	Power Functions Train Motor	No	Via DCMotor
Lego	88003	Power Functions L-Motor	No	Via DCMotor
Lego	88004	Power Functions Servo-Motor	No	Via DCMotor
Lego	8882	Power Functions XL-Motor	No	Via DCMotor
Lego	8883	Power Functions M-Motor	No	Via DCMotor
Lego	9670	E-Motor	No	Via DCMotor
Lego	9842	Interactive Servo Motor (NXT)	Yes	Yes