Add drivers: Firgelli L12 50/100 Motor

src/main/java/org/ev3dev/hardware/Device.java

@@ -44,7 +44,7 @@ public Device(String className){
 	 * Create a new device with a <b>LegoPort</b>, <b>ClassName</b>, <b>classNamePrefix</b>
 	 * @param port A LegoPort delared before.
 	 * @param className Sysfs class name
-	 * @param classNamePrefix The filename inside the "Sysfs class" (I called it sub-class)
+	 * @param classNamePrefix The filename prefix inside the "Sysfs class" (e.g. motor[n], which "motor" is the prefix)
 	 * @throws IOException If I/O goes wrong
 	 */
 	public Device(LegoPort port, String className, String classNamePrefix) throws IOException{

src/main/java/org/ev3dev/hardware/motors/FirgelliL12100Motor.java

@@ -0,0 +1,81 @@
+package org.ev3dev.hardware.motors;
+
+import java.io.IOException;
+
+import org.ev3dev.exception.InvalidPortException;
+import org.ev3dev.hardware.ports.LegoPort;
+
+public class FirgelliL12100Motor extends Motor {
+
+	/**
+	 * The Sysfs class's <code>count_per_m</code> property name
+	 */
+	public static final String SYSFS_PROPERTY_COUNT_PER_M = "count_per_m";
+
+	/**
+	 * The Sysfs class's <code>full_travel_count</code> property name
+	 */
+	public static final String SYSFS_PROPERTY_FULL_TRAVEL_COUNT = "full_travel_count";
+
+	/**
+	 * This Sysfs's class name prefix (e.g. <code>/sys/class/lego-sensor/sensor0</code>, and <code>sensor</code> is the class name prefix without the [N] value.)
+	 */
+	public static final String LINEAR_MOTOR_CLASS_NAME_PREFIX = "linear";
+
+	/**
+	 * The driver name for the L12 EV3 100mm by Actuonix
+	 */
+	public static final String DRIVER_NAME_100MM = "act-l12-ev3-100";
+
+	public FirgelliL12100Motor(int portField) throws InvalidPortException, IOException {
+		this(new LegoPort(portField));
+	}
+
+	public FirgelliL12100Motor(LegoPort port) throws InvalidPortException, IOException {
+		super(port, LINEAR_MOTOR_CLASS_NAME_PREFIX);
+		if (!port.getDriverName().equals(DRIVER_NAME_100MM)){
+			throw new InvalidPortException("The port does not connect to a Firgelli L12 100 Motor");
+		}
+	}
+
+	/**
+	 * Do not use this on Firgelli L12 50/100 Motors (Linear motors).<br>
+	 * <code>-1</code> will be returned instead, use <code>getCountPerMetre()</code>
+	 */
+	@Override
+	public int getCountPerRot() throws IOException{
+		return -1;
+	}
+
+	/**
+	 * Returns the number of tacho counts in one meter of travel of the motor. 
+	 * Tacho counts are used by the position and speed attributes, so you can
+	 *  use this value to convert from distance to tacho counts. (linear motors only)
+	 * @return Counts per metre
+	 * @throws IOException If I/O goes wrong
+	 */
+	public int getCountPerMetre() throws IOException{
+		if (!this.isConnected()){
+			return -1;
+		}
+		String countpermetre = this.getAttribute(SYSFS_PROPERTY_COUNT_PER_M);
+		return Integer.parseInt(countpermetre);
+	}
+
+	/**
+	 * Returns the number of tacho counts in the full travel of the motor. 
+	 * When combined with the count_per_m attribute, you can use this value
+	 *  to calculate the maximum travel distance of the motor. 
+	 *  (linear motors only)
+	 * @return Full Travel Count
+	 * @throws IOException
+	 */
+	public int getFullTravelCount() throws IOException{
+		if (!this.isConnected()){
+			return -1;
+		}
+		String str = this.getAttribute(SYSFS_PROPERTY_FULL_TRAVEL_COUNT);
+		return Integer.parseInt(str);
+	}
+
+}

src/main/java/org/ev3dev/hardware/motors/FirgelliL1250Motor.java

@@ -0,0 +1,81 @@
+package org.ev3dev.hardware.motors;
+
+import java.io.IOException;
+
+import org.ev3dev.exception.InvalidPortException;
+import org.ev3dev.hardware.ports.LegoPort;
+
+public class FirgelliL1250Motor extends Motor {
+
+	/**
+	 * The Sysfs class's <code>count_per_m</code> property name
+	 */
+	public static final String SYSFS_PROPERTY_COUNT_PER_M = "count_per_m";
+
+	/**
+	 * The Sysfs class's <code>full_travel_count</code> property name
+	 */
+	public static final String SYSFS_PROPERTY_FULL_TRAVEL_COUNT = "full_travel_count";
+
+	/**
+	 * This Sysfs's class name prefix (e.g. <code>/sys/class/lego-sensor/sensor0</code>, and <code>sensor</code> is the class name prefix without the [N] value.)
+	 */
+	public static final String LINEAR_MOTOR_CLASS_NAME_PREFIX = "linear";
+
+	/**
+	 * The driver name for the L12 EV3 50mm by Actuonix
+	 */
+	public static final String DRIVER_NAME_50MM = "act-l12-ev3-50";
+
+	public FirgelliL1250Motor(int portField) throws InvalidPortException, IOException {
+		this(new LegoPort(portField));
+	}
+
+	public FirgelliL1250Motor(LegoPort port) throws InvalidPortException, IOException {
+		super(port, LINEAR_MOTOR_CLASS_NAME_PREFIX);
+		if (!port.getDriverName().equals(DRIVER_NAME_50MM)){
+			throw new InvalidPortException("The port does not connect to a Firgelli L12 50 Motor");
+		}
+	}
+
+	/**
+	 * Do not use this on Firgelli L12 50/100 Motors (Linear motors).<br>
+	 * <code>-1</code> will be returned instead, use <code>getCountPerMetre()</code>
+	 */
+	@Override
+	public int getCountPerRot() throws IOException{
+		return -1;
+	}
+
+	/**
+	 * Returns the number of tacho counts in one meter of travel of the motor. 
+	 * Tacho counts are used by the position and speed attributes, so you can
+	 *  use this value to convert from distance to tacho counts. (linear motors only)
+	 * @return Counts per metre
+	 * @throws IOException If I/O goes wrong
+	 */
+	public int getCountPerMetre() throws IOException{
+		if (!this.isConnected()){
+			return -1;
+		}
+		String countpermetre = this.getAttribute(SYSFS_PROPERTY_COUNT_PER_M);
+		return Integer.parseInt(countpermetre);
+	}
+
+	/**
+	 * Returns the number of tacho counts in the full travel of the motor. 
+	 * When combined with the count_per_m attribute, you can use this value
+	 *  to calculate the maximum travel distance of the motor. 
+	 *  (linear motors only)
+	 * @return Full Travel Count
+	 * @throws IOException
+	 */
+	public int getFullTravelCount() throws IOException{
+		if (!this.isConnected()){
+			return -1;
+		}
+		String str = this.getAttribute(SYSFS_PROPERTY_FULL_TRAVEL_COUNT);
+		return Integer.parseInt(str);
+	}
+
+}