YMotor (Yoctopuce Java API 2.1.11632-SNAPSHOT API)

java.lang.Object
- com.yoctopuce.YoctoAPI.YFunction
- - com.yoctopuce.YoctoAPI.YMotor

```
public class YMotor
extends YFunction
```
YMotor Class: motor control interface, available for instance in the Yocto-Motor-DC The YMotor class allows you to drive a DC motor. It can be used to configure the power sent to the motor to make it turn both ways, but also to drive accelerations and decelerations. The motor will then accelerate automatically: you will not have to monitor it. The API also allows to slow down the motor by shortening its terminals: the motor will then act as an electromagnetic brake.

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static interface`	`YMotor.TimedReportCallback` TimedReportCallback for Motor
`static interface`	`YMotor.UpdateCallback` Deprecated UpdateCallback for Motor

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`_brakingForce`
`protected String`	`_command`
`protected double`	`_cutOffVoltage`
`protected double`	`_drivingForce`
`protected int`	`_failSafeTimeout`
`protected double`	`_frequency`
`protected int`	`_motorStatus`
`protected int`	`_overCurrentLimit`
`protected int`	`_starterTime`
`protected YMotor.UpdateCallback`	`_valueCallbackMotor`
`static double`	`BRAKINGFORCE_INVALID` invalid brakingForce value
`static String`	`COMMAND_INVALID` invalid command value
`static double`	`CUTOFFVOLTAGE_INVALID` invalid cutOffVoltage value
`static double`	`DRIVINGFORCE_INVALID` invalid drivingForce value
`static int`	`FAILSAFETIMEOUT_INVALID` invalid failSafeTimeout value
`static double`	`FREQUENCY_INVALID` invalid frequency value
`static int`	`MOTORSTATUS_BACKWD`
`static int`	`MOTORSTATUS_BRAKE`
`static int`	`MOTORSTATUS_FAILSF`
`static int`	`MOTORSTATUS_FORWD`
`static int`	`MOTORSTATUS_HICURR`
`static int`	`MOTORSTATUS_HIHEAT`
`static int`	`MOTORSTATUS_IDLE` invalid motorStatus value
`static int`	`MOTORSTATUS_INVALID`
`static int`	`MOTORSTATUS_LOVOLT`
`static int`	`OVERCURRENTLIMIT_INVALID` invalid overCurrentLimit value
`static int`	`STARTERTIME_INVALID` invalid starterTime value

Fields inherited from class com.yoctopuce.YoctoAPI.YFunction
_advertisedValue, _cacheExpiration, _className, _dataStreams, _func, _funId, _hwId, _lastErrorMsg, _lastErrorType, _logicalName, _serial, _userData, _valueCallbackFunction, _yapi, ADVERTISEDVALUE_INVALID, FUNCTIONDESCRIPTOR_INVALID, LOGICALNAME_INVALID

Constructor Summary

Constructors
Modifier Constructor and Description

protected YMotor(String func)

protected YMotor(YAPIContext ctx, String func)

Constructors
Modifier	Constructor and Description
`protected`	`YMotor(String func)`
`protected`	`YMotor(YAPIContext ctx, String func)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`int`	`_invokeValueCallback(String value)`
`protected void`	`_parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)`
`int`	`brakingForceMove(double targetPower, int delay)` Changes progressively the braking force applied to the motor for a specific duration.
`int`	`drivingForceMove(double targetPower, int delay)` Changes progressively the power sent to the motor for a specific duration.
`static YMotor`	`FindMotor(String func)` Retrieves a motor for a given identifier.
`static YMotor`	`FindMotorInContext(YAPIContext yctx, String func)` Retrieves a motor for a given identifier in a YAPI context.
`static YMotor`	`FirstMotor()` Starts the enumeration of motors currently accessible.
`static YMotor`	`FirstMotorInContext(YAPIContext yctx)` Starts the enumeration of motors currently accessible.
`double`	`get_brakingForce()` Returns the braking force applied to the motor, as a percentage.
`String`	`get_command()`
`double`	`get_cutOffVoltage()` Returns the threshold voltage under which the controller automatically switches to error state and prevents further current draw.
`double`	`get_drivingForce()` Returns the power sent to the motor, as a percentage between -100% and +100%.
`int`	`get_failSafeTimeout()` Returns the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process.
`double`	`get_frequency()` Returns the PWM frequency used to control the motor.
`int`	`get_motorStatus()` Return the controller state.
`int`	`get_overCurrentLimit()` Returns the current threshold (in mA) above which the controller automatically switches to error state.
`int`	`get_starterTime()` Returns the duration (in ms) during which the motor is driven at low frequency to help it start up.
`double`	`getBrakingForce()` Returns the braking force applied to the motor, as a percentage.
`double`	`getCutOffVoltage()` Returns the threshold voltage under which the controller automatically switches to error state and prevents further current draw.
`double`	`getDrivingForce()` Returns the power sent to the motor, as a percentage between -100% and +100%.
`int`	`getFailSafeTimeout()` Returns the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process.
`double`	`getFrequency()` Returns the PWM frequency used to control the motor.
`int`	`getMotorStatus()` Return the controller state.
`int`	`getOverCurrentLimit()` Returns the current threshold (in mA) above which the controller automatically switches to error state.
`int`	`getStarterTime()` Returns the duration (in ms) during which the motor is driven at low frequency to help it start up.
`int`	`keepALive()` Rearms the controller failsafe timer.
`YMotor`	`nextMotor()` Continues the enumeration of motors started using yFirstMotor().
`int`	`registerValueCallback(YMotor.UpdateCallback callback)` Registers the callback function that is invoked on every change of advertised value.
`int`	`resetStatus()` Reset the controller state to IDLE.
`int`	`set_brakingForce(double newval)` Changes immediately the braking force applied to the motor (in percents).
`int`	`set_command(String newval)`
`int`	`set_cutOffVoltage(double newval)` Changes the threshold voltage under which the controller automatically switches to error state and prevents further current draw.
`int`	`set_drivingForce(double newval)` Changes immediately the power sent to the motor.
`int`	`set_failSafeTimeout(int newval)` Changes the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process.
`int`	`set_frequency(double newval)` Changes the PWM frequency used to control the motor.
`int`	`set_motorStatus(int newval)`
`int`	`set_overCurrentLimit(int newval)` Changes the current threshold (in mA) above which the controller automatically switches to error state.
`int`	`set_starterTime(int newval)` Changes the duration (in ms) during which the motor is driven at low frequency to help it start up.
`int`	`setBrakingForce(double newval)` Changes immediately the braking force applied to the motor (in percents).
`int`	`setCutOffVoltage(double newval)` Changes the threshold voltage under which the controller automatically switches to error state and prevents further current draw.
`int`	`setDrivingForce(double newval)` Changes immediately the power sent to the motor.
`int`	`setFailSafeTimeout(int newval)` Changes the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process.
`int`	`setFrequency(double newval)` Changes the PWM frequency used to control the motor.
`int`	`setOverCurrentLimit(int newval)` Changes the current threshold (in mA) above which the controller automatically switches to error state.
`int`	`setStarterTime(int newval)` Changes the duration (in ms) during which the motor is driven at low frequency to help it start up.

Methods inherited from class com.yoctopuce.YoctoAPI.YFunction
_AddToCache, _clearDataStreamCache, _decode_json_int, _decode_json_string, _download, _escapeAttr, _FindFromCache, _FindFromCacheInContext, _get_json_path_struct, _get_json_path, _is_valid_pass, _json_get_array, _json_get_key, _json_get_string, _parse, _parserHelper, _setAttr, _throw, _UpdateTimedReportCallbackList, _UpdateValueCallbackList, _upload, _upload, _uploadEx, clearCache, describe, errMessage, errorMessage, errorType, errType, FindFunction, FindFunctionInContext, FirstFunction, FirstFunctionInContext, functionDescriptor, get_advertisedValue, get_errorMessage, get_errorType, get_friendlyName, get_functionDescriptor, get_functionId, get_hardwareId, get_logicalName, get_module, get_serialNumber, get_userData, getAdvertisedValue, getErrorMessage, getErrorType, getFriendlyName, getFunctionDescriptor, getFunctionId, getHardwareId, getLogicalName, getModule, getUserData, isOnline, isReadOnly, load, loadAttribute, module, muteValueCallbacks, nextFunction, registerValueCallback, set_advertisedValue, set_logicalName, set_userData, setLogicalName, setUserData, toString, unmuteValueCallbacks, userData

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - MOTORSTATUS_IDLE
```
public static final int MOTORSTATUS_IDLE
```
    invalid motorStatus value
    
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_BRAKE
```
public static final int MOTORSTATUS_BRAKE
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_FORWD
```
public static final int MOTORSTATUS_FORWD
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_BACKWD
```
public static final int MOTORSTATUS_BACKWD
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_LOVOLT
```
public static final int MOTORSTATUS_LOVOLT
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_HICURR
```
public static final int MOTORSTATUS_HICURR
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_HIHEAT
```
public static final int MOTORSTATUS_HIHEAT
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_FAILSF
```
public static final int MOTORSTATUS_FAILSF
```
    See Also:
    
    Constant Field Values
  - MOTORSTATUS_INVALID
```
public static final int MOTORSTATUS_INVALID
```
    See Also:
    
    Constant Field Values
  - DRIVINGFORCE_INVALID
```
public static final double DRIVINGFORCE_INVALID
```
    invalid drivingForce value
    
    See Also:
    
    Constant Field Values
  - BRAKINGFORCE_INVALID
```
public static final double BRAKINGFORCE_INVALID
```
    invalid brakingForce value
    
    See Also:
    
    Constant Field Values
  - CUTOFFVOLTAGE_INVALID
```
public static final double CUTOFFVOLTAGE_INVALID
```
    invalid cutOffVoltage value
    
    See Also:
    
    Constant Field Values
  - OVERCURRENTLIMIT_INVALID
```
public static final int OVERCURRENTLIMIT_INVALID
```
    invalid overCurrentLimit value
    
    See Also:
    
    Constant Field Values
  - FREQUENCY_INVALID
```
public static final double FREQUENCY_INVALID
```
    invalid frequency value
    
    See Also:
    
    Constant Field Values
  - STARTERTIME_INVALID
```
public static final int STARTERTIME_INVALID
```
    invalid starterTime value
    
    See Also:
    
    Constant Field Values
  - FAILSAFETIMEOUT_INVALID
```
public static final int FAILSAFETIMEOUT_INVALID
```
    invalid failSafeTimeout value
    
    See Also:
    
    Constant Field Values
  - COMMAND_INVALID
```
public static final String COMMAND_INVALID
```
    invalid command value
    
    See Also:
    
    Constant Field Values
  - _motorStatus
```
protected int _motorStatus
```
  - _drivingForce
```
protected double _drivingForce
```
  - _brakingForce
```
protected double _brakingForce
```
  - _cutOffVoltage
```
protected double _cutOffVoltage
```
  - _overCurrentLimit
```
protected int _overCurrentLimit
```
  - _frequency
```
protected double _frequency
```
  - _starterTime
```
protected int _starterTime
```
  - _failSafeTimeout
```
protected int _failSafeTimeout
```
  - _command
```
protected String _command
```
  - _valueCallbackMotor
```
protected YMotor.UpdateCallback _valueCallbackMotor
```
- Constructor Detail
  - YMotor
```
protected YMotor(YAPIContext ctx,
                 String func)
```
    Parameters:
    
    func - : functionid
  - YMotor
```
protected YMotor(String func)
```
    Parameters:
    
    func - : functionid
- Method Detail
  - _parseAttr
```
protected void _parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)
                   throws Exception
```
    Overrides:
    
    _parseAttr in class YFunction
    
    Throws:
    
    Exception
  - get_motorStatus
```
public int get_motorStatus()
                    throws YAPI_Exception
```
    Return the controller state. Possible states are: IDLE when the motor is stopped/in free wheel, ready to start; FORWD when the controller is driving the motor forward; BACKWD when the controller is driving the motor backward; BRAKE when the controller is braking; LOVOLT when the controller has detected a low voltage condition; HICURR when the controller has detected an over current condition; HIHEAT when the controller has detected an overheat condition; FAILSF when the controller switched on the failsafe security. When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller status must be explicitly reset using the resetStatus function.
    
    Returns:
    
    a value among YMotor.MOTORSTATUS_IDLE, YMotor.MOTORSTATUS_BRAKE, YMotor.MOTORSTATUS_FORWD, YMotor.MOTORSTATUS_BACKWD, YMotor.MOTORSTATUS_LOVOLT, YMotor.MOTORSTATUS_HICURR, YMotor.MOTORSTATUS_HIHEAT and YMotor.MOTORSTATUS_FAILSF
    
    Throws:
    
    YAPI_Exception - on error
  - getMotorStatus
```
public int getMotorStatus()
                   throws YAPI_Exception
```
    Return the controller state. Possible states are: IDLE when the motor is stopped/in free wheel, ready to start; FORWD when the controller is driving the motor forward; BACKWD when the controller is driving the motor backward; BRAKE when the controller is braking; LOVOLT when the controller has detected a low voltage condition; HICURR when the controller has detected an over current condition; HIHEAT when the controller has detected an overheat condition; FAILSF when the controller switched on the failsafe security. When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller status must be explicitly reset using the resetStatus function.
    
    Returns:
    
    a value among YMotor.MOTORSTATUS_IDLE, YMotor.MOTORSTATUS_BRAKE, YMotor.MOTORSTATUS_FORWD, YMotor.MOTORSTATUS_BACKWD, YMotor.MOTORSTATUS_LOVOLT, YMotor.MOTORSTATUS_HICURR, YMotor.MOTORSTATUS_HIHEAT and YMotor.MOTORSTATUS_FAILSF
    
    Throws:
    
    YAPI_Exception - on error
  - set_motorStatus
```
public int set_motorStatus(int newval)
                    throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - set_drivingForce
```
public int set_drivingForce(double newval)
                     throws YAPI_Exception
```
    Changes immediately the power sent to the motor. The value is a percentage between -100% to 100%. If you want go easy on your mechanics and avoid excessive current consumption, try to avoid brutal power changes. For example, immediate transition from forward full power to reverse full power is a very bad idea. Each time the driving power is modified, the braking power is set to zero.
    
    Parameters:
    
    newval - : a floating point number corresponding to immediately the power sent to the motor
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setDrivingForce
```
public int setDrivingForce(double newval)
                    throws YAPI_Exception
```
    Changes immediately the power sent to the motor. The value is a percentage between -100% to 100%. If you want go easy on your mechanics and avoid excessive current consumption, try to avoid brutal power changes. For example, immediate transition from forward full power to reverse full power is a very bad idea. Each time the driving power is modified, the braking power is set to zero.
    
    Parameters:
    
    newval - : a floating point number corresponding to immediately the power sent to the motor
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_drivingForce
```
public double get_drivingForce()
                        throws YAPI_Exception
```
    Returns the power sent to the motor, as a percentage between -100% and +100%.
    
    Returns:
    
    a floating point number corresponding to the power sent to the motor, as a percentage between -100% and +100%
    
    Throws:
    
    YAPI_Exception - on error
  - getDrivingForce
```
public double getDrivingForce()
                       throws YAPI_Exception
```
    Returns the power sent to the motor, as a percentage between -100% and +100%.
    
    Returns:
    
    a floating point number corresponding to the power sent to the motor, as a percentage between -100% and +100%
    
    Throws:
    
    YAPI_Exception - on error
  - set_brakingForce
```
public int set_brakingForce(double newval)
                     throws YAPI_Exception
```
    Changes immediately the braking force applied to the motor (in percents). The value 0 corresponds to no braking (free wheel). When the braking force is changed, the driving power is set to zero. The value is a percentage.
    
    Parameters:
    
    newval - : a floating point number corresponding to immediately the braking force applied to the motor (in percents)
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setBrakingForce
```
public int setBrakingForce(double newval)
                    throws YAPI_Exception
```
    Changes immediately the braking force applied to the motor (in percents). The value 0 corresponds to no braking (free wheel). When the braking force is changed, the driving power is set to zero. The value is a percentage.
    
    Parameters:
    
    newval - : a floating point number corresponding to immediately the braking force applied to the motor (in percents)
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_brakingForce
```
public double get_brakingForce()
                        throws YAPI_Exception
```
    Returns the braking force applied to the motor, as a percentage. The value 0 corresponds to no braking (free wheel).
    
    Returns:
    
    a floating point number corresponding to the braking force applied to the motor, as a percentage
    
    Throws:
    
    YAPI_Exception - on error
  - getBrakingForce
```
public double getBrakingForce()
                       throws YAPI_Exception
```
    Returns the braking force applied to the motor, as a percentage. The value 0 corresponds to no braking (free wheel).
    
    Returns:
    
    a floating point number corresponding to the braking force applied to the motor, as a percentage
    
    Throws:
    
    YAPI_Exception - on error
  - set_cutOffVoltage
```
public int set_cutOffVoltage(double newval)
                      throws YAPI_Exception
```
    Changes the threshold voltage under which the controller automatically switches to error state and prevents further current draw. This setting prevent damage to a battery that can occur when drawing current from an "empty" battery. Note that whatever the cutoff threshold, the controller switches to undervoltage error state if the power supply goes under 3V, even for a very brief time. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : a floating point number corresponding to the threshold voltage under which the controller automatically switches to error state and prevents further current draw
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setCutOffVoltage
```
public int setCutOffVoltage(double newval)
                     throws YAPI_Exception
```
    Changes the threshold voltage under which the controller automatically switches to error state and prevents further current draw. This setting prevent damage to a battery that can occur when drawing current from an "empty" battery. Note that whatever the cutoff threshold, the controller switches to undervoltage error state if the power supply goes under 3V, even for a very brief time. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : a floating point number corresponding to the threshold voltage under which the controller automatically switches to error state and prevents further current draw
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_cutOffVoltage
```
public double get_cutOffVoltage()
                         throws YAPI_Exception
```
    Returns the threshold voltage under which the controller automatically switches to error state and prevents further current draw. This setting prevents damage to a battery that can occur when drawing current from an "empty" battery.
    
    Returns:
    
    a floating point number corresponding to the threshold voltage under which the controller automatically switches to error state and prevents further current draw
    
    Throws:
    
    YAPI_Exception - on error
  - getCutOffVoltage
```
public double getCutOffVoltage()
                        throws YAPI_Exception
```
    Returns the threshold voltage under which the controller automatically switches to error state and prevents further current draw. This setting prevents damage to a battery that can occur when drawing current from an "empty" battery.
    
    Returns:
    
    a floating point number corresponding to the threshold voltage under which the controller automatically switches to error state and prevents further current draw
    
    Throws:
    
    YAPI_Exception - on error
  - get_overCurrentLimit
```
public int get_overCurrentLimit()
                         throws YAPI_Exception
```
    Returns the current threshold (in mA) above which the controller automatically switches to error state. A zero value means that there is no limit.
    
    Returns:
    
    an integer corresponding to the current threshold (in mA) above which the controller automatically switches to error state
    
    Throws:
    
    YAPI_Exception - on error
  - getOverCurrentLimit
```
public int getOverCurrentLimit()
                        throws YAPI_Exception
```
    Returns the current threshold (in mA) above which the controller automatically switches to error state. A zero value means that there is no limit.
    
    Returns:
    
    an integer corresponding to the current threshold (in mA) above which the controller automatically switches to error state
    
    Throws:
    
    YAPI_Exception - on error
  - set_overCurrentLimit
```
public int set_overCurrentLimit(int newval)
                         throws YAPI_Exception
```
    Changes the current threshold (in mA) above which the controller automatically switches to error state. A zero value means that there is no limit. Note that whatever the current limit is, the controller switches to OVERCURRENT status if the current goes above 32A, even for a very brief time. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : an integer corresponding to the current threshold (in mA) above which the controller automatically switches to error state
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setOverCurrentLimit
```
public int setOverCurrentLimit(int newval)
                        throws YAPI_Exception
```
    Changes the current threshold (in mA) above which the controller automatically switches to error state. A zero value means that there is no limit. Note that whatever the current limit is, the controller switches to OVERCURRENT status if the current goes above 32A, even for a very brief time. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : an integer corresponding to the current threshold (in mA) above which the controller automatically switches to error state
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - set_frequency
```
public int set_frequency(double newval)
                  throws YAPI_Exception
```
    Changes the PWM frequency used to control the motor. Low frequency is usually more efficient and may help the motor to start, but an audible noise might be generated. A higher frequency reduces the noise, but more energy is converted into heat. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : a floating point number corresponding to the PWM frequency used to control the motor
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setFrequency
```
public int setFrequency(double newval)
                 throws YAPI_Exception
```
    Changes the PWM frequency used to control the motor. Low frequency is usually more efficient and may help the motor to start, but an audible noise might be generated. A higher frequency reduces the noise, but more energy is converted into heat. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : a floating point number corresponding to the PWM frequency used to control the motor
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_frequency
```
public double get_frequency()
                     throws YAPI_Exception
```
    Returns the PWM frequency used to control the motor.
    
    Returns:
    
    a floating point number corresponding to the PWM frequency used to control the motor
    
    Throws:
    
    YAPI_Exception - on error
  - getFrequency
```
public double getFrequency()
                    throws YAPI_Exception
```
    Returns the PWM frequency used to control the motor.
    
    Returns:
    
    a floating point number corresponding to the PWM frequency used to control the motor
    
    Throws:
    
    YAPI_Exception - on error
  - get_starterTime
```
public int get_starterTime()
                    throws YAPI_Exception
```
    Returns the duration (in ms) during which the motor is driven at low frequency to help it start up.
    
    Returns:
    
    an integer corresponding to the duration (in ms) during which the motor is driven at low frequency to help it start up
    
    Throws:
    
    YAPI_Exception - on error
  - getStarterTime
```
public int getStarterTime()
                   throws YAPI_Exception
```
    Returns the duration (in ms) during which the motor is driven at low frequency to help it start up.
    
    Returns:
    
    an integer corresponding to the duration (in ms) during which the motor is driven at low frequency to help it start up
    
    Throws:
    
    YAPI_Exception - on error
  - set_starterTime
```
public int set_starterTime(int newval)
                    throws YAPI_Exception
```
    Changes the duration (in ms) during which the motor is driven at low frequency to help it start up. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : an integer corresponding to the duration (in ms) during which the motor is driven at low frequency to help it start up
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setStarterTime
```
public int setStarterTime(int newval)
                   throws YAPI_Exception
```
    Changes the duration (in ms) during which the motor is driven at low frequency to help it start up. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : an integer corresponding to the duration (in ms) during which the motor is driven at low frequency to help it start up
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_failSafeTimeout
```
public int get_failSafeTimeout()
                        throws YAPI_Exception
```
    Returns the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process. When this delay has elapsed, the controller automatically stops the motor and switches to FAILSAFE error. Failsafe security is disabled when the value is zero.
    
    Returns:
    
    an integer corresponding to the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process
    
    Throws:
    
    YAPI_Exception - on error
  - getFailSafeTimeout
```
public int getFailSafeTimeout()
                       throws YAPI_Exception
```
    Returns the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process. When this delay has elapsed, the controller automatically stops the motor and switches to FAILSAFE error. Failsafe security is disabled when the value is zero.
    
    Returns:
    
    an integer corresponding to the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process
    
    Throws:
    
    YAPI_Exception - on error
  - set_failSafeTimeout
```
public int set_failSafeTimeout(int newval)
                        throws YAPI_Exception
```
    Changes the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process. When this delay has elapsed, the controller automatically stops the motor and switches to FAILSAFE error. Failsafe security is disabled when the value is zero. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : an integer corresponding to the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setFailSafeTimeout
```
public int setFailSafeTimeout(int newval)
                       throws YAPI_Exception
```
    Changes the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process. When this delay has elapsed, the controller automatically stops the motor and switches to FAILSAFE error. Failsafe security is disabled when the value is zero. Remember to call the saveToFlash() method of the module if the modification must be kept.
    
    Parameters:
    
    newval - : an integer corresponding to the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_command
```
public String get_command()
                   throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - set_command
```
public int set_command(String newval)
                throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - FindMotor
```
public static YMotor FindMotor(String func)
```
    Retrieves a motor for a given identifier. The identifier can be specified using several formats:
    - FunctionLogicalName
    - ModuleSerialNumber.FunctionIdentifier
    - ModuleSerialNumber.FunctionLogicalName
    - ModuleLogicalName.FunctionIdentifier
    - ModuleLogicalName.FunctionLogicalName
    This function does not require that the motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YMotor.isOnline() to test if the motor is indeed online at a given time. In case of ambiguity when looking for a motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name. If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.
    Parameters:
    
    func - : a string that uniquely characterizes the motor, for instance MOTORCTL.motor.
    
    Returns:
    
    a YMotor object allowing you to drive the motor.
  - FindMotorInContext
```
public static YMotor FindMotorInContext(YAPIContext yctx,
                                        String func)
```
    Retrieves a motor for a given identifier in a YAPI context. The identifier can be specified using several formats:
    - FunctionLogicalName
    - ModuleSerialNumber.FunctionIdentifier
    - ModuleSerialNumber.FunctionLogicalName
    - ModuleLogicalName.FunctionIdentifier
    - ModuleLogicalName.FunctionLogicalName
    This function does not require that the motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YMotor.isOnline() to test if the motor is indeed online at a given time. In case of ambiguity when looking for a motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.
    Parameters:
    
    yctx - : a YAPI context
    
    func - : a string that uniquely characterizes the motor, for instance MOTORCTL.motor.
    
    Returns:
    
    a YMotor object allowing you to drive the motor.
  - registerValueCallback
```
public int registerValueCallback(YMotor.UpdateCallback callback)
```
    Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a null pointer as argument.
    
    Parameters:
    
    callback - : the callback function to call, or a null pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.
  - _invokeValueCallback
```
public int _invokeValueCallback(String value)
```
    Overrides:
    
    _invokeValueCallback in class YFunction
  - keepALive
```
public int keepALive()
              throws YAPI_Exception
```
    Rearms the controller failsafe timer. When the motor is running and the failsafe feature is active, this function should be called periodically to prove that the control process is running properly. Otherwise, the motor is automatically stopped after the specified timeout. Calling a motor set function implicitly rearms the failsafe timer.
    
    Throws:
    
    YAPI_Exception
  - resetStatus
```
public int resetStatus()
                throws YAPI_Exception
```
    Reset the controller state to IDLE. This function must be invoked explicitly after any error condition is signaled.
    
    Throws:
    
    YAPI_Exception
  - drivingForceMove
```
public int drivingForceMove(double targetPower,
                            int delay)
                     throws YAPI_Exception
```
    Changes progressively the power sent to the motor for a specific duration.
    
    Parameters:
    
    targetPower - : desired motor power, in percents (between -100% and +100%)
    
    delay - : duration (in ms) of the transition
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - brakingForceMove
```
public int brakingForceMove(double targetPower,
                            int delay)
                     throws YAPI_Exception
```
    Changes progressively the braking force applied to the motor for a specific duration.
    
    Parameters:
    
    targetPower - : desired braking force, in percents
    
    delay - : duration (in ms) of the transition
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - nextMotor
```
public YMotor nextMotor()
```
    Continues the enumeration of motors started using yFirstMotor(). Caution: You can't make any assumption about the returned motors order. If you want to find a specific a motor, use Motor.findMotor() and a hardwareID or a logical name.
    
    Returns:
    
    a pointer to a YMotor object, corresponding to a motor currently online, or a null pointer if there are no more motors to enumerate.
  - FirstMotor
```
public static YMotor FirstMotor()
```
    Starts the enumeration of motors currently accessible. Use the method YMotor.nextMotor() to iterate on next motors.
    
    Returns:
    
    a pointer to a YMotor object, corresponding to the first motor currently online, or a null pointer if there are none.
  - FirstMotorInContext
```
public static YMotor FirstMotorInContext(YAPIContext yctx)
```
    Starts the enumeration of motors currently accessible. Use the method YMotor.nextMotor() to iterate on next motors.
    
    Parameters:
    
    yctx - : a YAPI context.
    
    Returns:
    
    a pointer to a YMotor object, corresponding to the first motor currently online, or a null pointer if there are none.

Class YMotor

Nested Class Summary

Field Summary

Fields inherited from class com.yoctopuce.YoctoAPI.YFunction

Constructor Summary

Method Summary

Methods inherited from class com.yoctopuce.YoctoAPI.YFunction

Methods inherited from class java.lang.Object

Field Detail

MOTORSTATUS_IDLE

MOTORSTATUS_BRAKE

MOTORSTATUS_FORWD

MOTORSTATUS_BACKWD

MOTORSTATUS_LOVOLT

MOTORSTATUS_HICURR

MOTORSTATUS_HIHEAT

MOTORSTATUS_FAILSF

MOTORSTATUS_INVALID

DRIVINGFORCE_INVALID

BRAKINGFORCE_INVALID

CUTOFFVOLTAGE_INVALID

OVERCURRENTLIMIT_INVALID

FREQUENCY_INVALID

STARTERTIME_INVALID

FAILSAFETIMEOUT_INVALID

COMMAND_INVALID

_motorStatus

_drivingForce

_brakingForce

_cutOffVoltage

_overCurrentLimit

_frequency

_starterTime

_failSafeTimeout

_command

_valueCallbackMotor

Constructor Detail

YMotor

YMotor

Method Detail

_parseAttr

get_motorStatus

getMotorStatus

set_motorStatus

set_drivingForce

setDrivingForce

get_drivingForce

getDrivingForce

set_brakingForce

setBrakingForce

get_brakingForce

getBrakingForce

set_cutOffVoltage

setCutOffVoltage

get_cutOffVoltage

getCutOffVoltage

get_overCurrentLimit

getOverCurrentLimit

set_overCurrentLimit

setOverCurrentLimit

set_frequency

setFrequency

get_frequency

getFrequency

get_starterTime

getStarterTime

set_starterTime

setStarterTime

get_failSafeTimeout

getFailSafeTimeout

set_failSafeTimeout

setFailSafeTimeout

get_command

set_command

FindMotor

FindMotorInContext

registerValueCallback

_invokeValueCallback

keepALive

resetStatus