java.lang.Object

jmri.beans.PropertyChangeSupport

jmri.jmrix.AbstractThrottle

All Implemented Interfaces:: PropertyChangeFirer, PropertyChangeProvider, DccThrottle, Throttle

Direct Known Subclasses:: CbusThrottle, DCCppThrottle, DebugThrottle, EasyDccThrottle, EcosDccThrottle, LocoNetThrottle, MarklinThrottle, MrcThrottle, Mx1Throttle, NceThrottle, OlcbThrottle, Pr2Throttle, SerialThrottle, SprogCSThrottle, SprogThrottle, SRCPThrottle, TamsThrottle, Throttle, XNetThrottle, XpaThrottle

public abstract class AbstractThrottle
extends PropertyChangeSupport
implements DccThrottle

An abstract implementation of DccThrottle. Based on Glen Oberhauser's original LnThrottleManager implementation.

Note that this implements DccThrottle, not Throttle directly, so it has some DCC-specific content.

Field Summary

Fields
Modifier and Type	Field	Description
`protected boolean`	`active`	Is this object still usable?
`protected SystemConnectionMemo`	`adapterMemo`	System Connection.
`(package private) long`	`durationRunning`
`protected boolean`	`isForward`
`(package private) BasicRosterEntry`	`re`
`protected float`	`speedSetting`
`protected SpeedStepMode`	`speedStepMode`	Question: should we set a default speed step mode so it's never zero?
`protected long`	`start`

Fields inherited from class jmri.beans.PropertyChangeSupport

propertyChangeSupport

Fields inherited from interface jmri.Throttle

F0, F0Momentary, F1, F10, F10Momentary, F11, F11Momentary, F12, F12Momentary, F13, F13Momentary, F14, F14Momentary, F15, F15Momentary, F16, F16Momentary, F17, F17Momentary, F18, F18Momentary, F19, F19Momentary, F1Momentary, F2, F20, F20Momentary, F21, F21Momentary, F22, F22Momentary, F23, F23Momentary, F24, F24Momentary, F25, F25Momentary, F26, F26Momentary, F27, F27Momentary, F28, F28Momentary, F2Momentary, F3, F3Momentary, F4, F4Momentary, F5, F5Momentary, F6, F6Momentary, F7, F7Momentary, F8, F8Momentary, F9, F9Momentary, FUNCTION_GROUPS, ISFORWARD, SPEEDINCREMENT, SPEEDSETTING, SPEEDSTEPMODE, SPEEDSTEPS

Constructor Summary

Constructors
Constructor	Description
`AbstractThrottle(SystemConnectionMemo memo)`	Create a new AbstractThrottle with Functions 0-28..
`AbstractThrottle(SystemConnectionMemo memo, int totalFunctions)`	Create a new AbstractThrottle with custom number of functions.

Method Summary

Modifier and Type	Method	Description
`void`	`addPropertyChangeListener(PropertyChangeListener l)`	Temporary behaviour only allowing unique PCLs.
`void`	`dispatch(ThrottleListener l)`	Finished with this Throttle, tell the layout that the locomotive is available for reuse/reallocation by somebody else.
`void`	`dispose(ThrottleListener l)`	Call from a ThrottleListener to dispose of the throttle instance
`protected void`	`finishRecord()`
`boolean`	`getFunction(int fN)`	Get Loco Function status.
`boolean`	`getFunctionMomentary(int fN)`	Get the Momentary Function Value.
`boolean[]`	`getFunctions()`	Get copy of function array.
`boolean[]`	`getFunctionsMomentary()`	Get copy of function momentary status array.
`boolean`	`getIsForward()`	direction This is an bound parameter.
`List<PropertyChangeListener>`	`getListeners()`	Deprecated.
`BasicRosterEntry`	`getRosterEntry()`
`float`	`getSpeedIncrement()`	to handle quantized speed.
`float`	`getSpeedSetting()`	speed - expressed as a value 0.0 -> 1.0. Negative means emergency stop.
`SpeedStepMode`	`getSpeedStepMode()`	Get the current speed step value.
`protected int`	`intSpeed(float speed)`	Get an integer speed for the given raw speed value.
`protected int`	`intSpeed(float speed, int steps)`	Get an integer speed for the given raw speed value.
`protected void`	`notifyPropertyChangeListener(String property, Object oldValue, Object newValue)`	Deprecated. since 4.19.5; use `PropertyChangeSupport.firePropertyChange(java.lang.String, java.lang.Object, java.lang.Object)` instead
`protected void`	`notifyThrottleDisconnect()`	Notify listeners that a Throttle has disconnected and is no longer available for use.
`void`	`notifyThrottleDispatchEnabled(boolean newVal)`	Notify listeners that a Throttle has Dispatch enabled or disabled.
`void`	`notifyThrottleReleaseEnabled(boolean newVal)`	Notify listeners that a Throttle has Release enabled or disabled.
`protected void`	`record(float speed)`	Processes updated speed from subclasses.
`void`	`release(ThrottleListener l)`	Finished with this Throttle, tell the layout that the locomotive is available for reuse/reallocation by somebody else.
`void`	`removePropertyChangeListener(PropertyChangeListener l)`	Remove the specified listener from this object.
`protected void`	`sendFunctionGroup(int functionNum, boolean momentary)`	Send whole (DCC) Function Group for a particular function number.
`protected void`	`sendFunctionGroup1()`	Send the message to set the state of functions F0, F1, F2, F3, F4.
`protected void`	`sendFunctionGroup2()`	Send the message to set the state of functions F5, F6, F7, F8.
`protected void`	`sendFunctionGroup3()`	Send the message to set the state of functions F9, F10, F11, F12.
`protected void`	`sendFunctionGroup4()`	Send the message to set the state of functions F13, F14, F15, F16, F17, F18, F19, F20.
`protected void`	`sendFunctionGroup5()`	Send the message to set the state of functions F21, F22, F23, F24, F25, F26, F27, F28.
`protected void`	`sendMomentaryFunctionGroup1()`	Send the message to set the momentary state of functions F0, F1, F2, F3, F4.
`protected void`	`sendMomentaryFunctionGroup2()`	Send the message to set the momentary state of functions F5, F6, F7, F8.
`protected void`	`sendMomentaryFunctionGroup3()`	Send the message to set the Momentary state of functions F9, F10, F11, F12
`protected void`	`sendMomentaryFunctionGroup4()`	Send the message to set the Momentary state of functions F13, F14, F15, F16, F17, F18, F19, F20
`protected void`	`sendMomentaryFunctionGroup5()`	Send the message to set the Momentary state of functions F21, F22, F23, F24, F25, F26, F27, F28
`void`	`setFunction(int functionNum, boolean newState)`	Set Loco Function and send to Layout.
`void`	`setFunctionMomentary(int momFuncNum, boolean state)`	Sets Momentary Function and sends to layout.
`void`	`setIsForward(boolean forward)`	Implementing functions should override this function, but should either make a call to super.setIsForward() to notify the listeners, or should notify the listeners themselves.
`void`	`setRosterEntry(BasicRosterEntry re)`
`void`	`setSpeedSetting(float speed)`	setSpeedSetting - Implementing functions should override this function, but should either make a call to super.setSpeedSetting() to notify the listeners at the end of their work, or should notify the listeners themselves.
`void`	`setSpeedSetting(float speed, boolean allowDuplicates, boolean allowDuplicatesOnStop)`	setSpeedSetting - Implementations should override this method only if they normally suppress messages to the system if, as far as JMRI can tell, the new message would make no difference to the system state (eg.
`void`	`setSpeedSettingAgain(float speed)`	setSpeedSettingAgain - set the speed and don't ever supress the sending of messages to the system
`void`	`setSpeedStepMode(SpeedStepMode mode)`	Set the speed step value.
`protected void`	`startClock()`
`(package private) void`	`stopClock()`
`protected abstract void`	`throttleDispose()`	Dispose when finished with this Throttle.
`void`	`updateFunction(int fn, boolean state)`	Update the state of a single function.
`void`	`updateFunctionMomentary(int fn, boolean state)`	Update the Momentary state of a single function.

Methods inherited from class jmri.beans.PropertyChangeSupport

addPropertyChangeListener, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface jmri.beans.PropertyChangeProvider

addPropertyChangeListener, getPropertyChangeListeners, getPropertyChangeListeners, removePropertyChangeListener

Methods inherited from interface jmri.Throttle

getF0, getF0Momentary, getF1, getF10, getF10Momentary, getF11, getF11Momentary, getF12, getF12Momentary, getF13, getF13Momentary, getF14, getF14Momentary, getF15, getF15Momentary, getF16, getF16Momentary, getF17, getF17Momentary, getF18, getF18Momentary, getF19, getF19Momentary, getF1Momentary, getF2, getF20, getF20Momentary, getF21, getF21Momentary, getF22, getF22Momentary, getF23, getF23Momentary, getF24, getF24Momentary, getF25, getF25Momentary, getF26, getF26Momentary, getF27, getF27Momentary, getF28, getF28Momentary, getF2Momentary, getF3, getF3Momentary, getF4, getF4Momentary, getF5, getF5Momentary, getF6, getF6Momentary, getF7, getF7Momentary, getF8, getF8Momentary, getF9, getF9Momentary, getLocoAddress, setF0, setF0Momentary, setF1, setF10, setF10Momentary, setF11, setF11Momentary, setF12, setF12Momentary, setF13, setF13Momentary, setF14, setF14Momentary, setF15, setF15Momentary, setF16, setF16Momentary, setF17, setF17Momentary, setF18, setF18Momentary, setF19, setF19Momentary, setF1Momentary, setF2, setF20, setF20Momentary, setF21, setF21Momentary, setF22, setF22Momentary, setF23, setF23Momentary, setF24, setF24Momentary, setF25, setF25Momentary, setF26, setF26Momentary, setF27, setF27Momentary, setF28, setF28Momentary, setF2Momentary, setF3, setF3Momentary, setF4, setF4Momentary, setF5, setF5Momentary, setF6, setF6Momentary, setF7, setF7Momentary, setF8, setF8Momentary, setF9, setF9Momentary

Field Details
- speedSetting
  
  protected float speedSetting
- speedStepMode
  
  protected SpeedStepMode speedStepMode
  
  Question: should we set a default speed step mode so it's never zero?
- isForward
  
  protected boolean isForward
- active
  
  protected boolean active
  
  Is this object still usable? Set false after dispose, this variable is used to check for incorrect usage.
- adapterMemo
  
  protected SystemConnectionMemo adapterMemo
  
  System Connection.
- durationRunning
  
  long durationRunning
- start
  
  protected long start
- re
  
  BasicRosterEntry re
Constructor Details
- AbstractThrottle
  
  public AbstractThrottle(SystemConnectionMemo memo)
  
  Create a new AbstractThrottle with Functions 0-28..
  All function and momentary functions set to Off.
  
  Parameters:
  
  memo - System Connection.
- AbstractThrottle
  
  public AbstractThrottle(SystemConnectionMemo memo, int totalFunctions)
  
  Create a new AbstractThrottle with custom number of functions.
  All function and momentary functions set to Off.
  
  Parameters:
  
  memo - System Connection.
  
  totalFunctions - total number of functions available, including 0.
Method Details
- getSpeedSetting
  
  public float getSpeedSetting()
  
  speed - expressed as a value 0.0 -> 1.0. Negative means emergency stop. This is an bound parameter.
  
  Specified by:
  
  getSpeedSetting in interface Throttle
  
  Returns:
  
  speed
- setSpeedSetting
  
  public void setSpeedSetting(float speed)
  
  setSpeedSetting - Implementing functions should override this function, but should either make a call to super.setSpeedSetting() to notify the listeners at the end of their work, or should notify the listeners themselves.
  
  Specified by:
  
  setSpeedSetting in interface Throttle
  
  Parameters:
  
  speed - the speed as a 0.0 -> 1.0. fraction of maximum possible speed or -1 for emergency stop.
- setSpeedSetting
  
  public void setSpeedSetting(float speed, boolean allowDuplicates, boolean allowDuplicatesOnStop)
  
  setSpeedSetting - Implementations should override this method only if they normally suppress messages to the system if, as far as JMRI can tell, the new message would make no difference to the system state (eg. the speed is the same, or effectivly the same, as the existing speed). Then, the boolean options can affect this behaviour.
  
  Specified by:
  
  setSpeedSetting in interface Throttle
  
  Parameters:
  
  speed - the new speed
  
  allowDuplicates - don't suppress messages
  
  allowDuplicatesOnStop - don't suppress messages if the new speed is 'stop'
- setSpeedSettingAgain
  
  public void setSpeedSettingAgain(float speed)
  
  setSpeedSettingAgain - set the speed and don't ever supress the sending of messages to the system
  
  Specified by:
  
  setSpeedSettingAgain in interface Throttle
  
  Parameters:
  
  speed - the new speed
- getIsForward
  
  public boolean getIsForward()
  
  direction This is an bound parameter.
  
  Specified by:
  
  getIsForward in interface Throttle
  
  Returns:
  
  true if locomotive is running forward
- setIsForward
  
  public void setIsForward(boolean forward)
  
  Implementing functions should override this function, but should either make a call to super.setIsForward() to notify the listeners, or should notify the listeners themselves.
  
  Specified by:
  
  setIsForward in interface Throttle
  
  Parameters:
  
  forward - true if forward; false otherwise
- getFunctions
  
  public boolean[] getFunctions()
  
  Get copy of function array. Typically returns array length of 29, i.e. 0-28.
  
  Specified by:
  
  getFunctions in interface Throttle
  
  Returns:
  
  function array, length dependant by hardware type.
- getFunctionsMomentary
  
  public boolean[] getFunctionsMomentary()
  
  Get copy of function momentary status array. Typically returns array length of 29, i.e. 0-28.
  
  Specified by:
  
  getFunctionsMomentary in interface Throttle
  
  Returns:
  
  momentary function array, length dependant by hardware type.
- getFunction
  
  public boolean getFunction(int fN)
  
  Get Loco Function status.
  
  Specified by:
  
  getFunction in interface Throttle
  
  Parameters:
  
  fN - Function Number, 0-28
  
  Returns:
  
  Function State. True on, false off.
- getFunctionMomentary
  
  public boolean getFunctionMomentary(int fN)
  
  Get the Momentary Function Value.
  
  Specified by:
  
  getFunctionMomentary in interface Throttle
  
  Parameters:
  
  fN - Momentary function number
  
  Returns:
  
  true if momentary function is on, else false.
- notifyThrottleDisconnect
  
  protected void notifyThrottleDisconnect()
  
  Notify listeners that a Throttle has disconnected and is no longer available for use.
  For when throttles have been stolen or encounter hardware error, and a normal release / dispose is not possible.
- notifyThrottleDispatchEnabled
  
  public void notifyThrottleDispatchEnabled(boolean newVal)
  
  Notify listeners that a Throttle has Dispatch enabled or disabled.
  For systems where dispatch availability is variable.
  Does not notify if existing value is unchanged.
  
  Specified by:
  
  notifyThrottleDispatchEnabled in interface Throttle
  
  Parameters:
  
  newVal - true if Dispatch enabled, else false
- notifyThrottleReleaseEnabled
  
  public void notifyThrottleReleaseEnabled(boolean newVal)
  
  Notify listeners that a Throttle has Release enabled or disabled.
  For systems where release availability is variable.
  Does not notify if existing value is unchanged.
  
  Specified by:
  
  notifyThrottleReleaseEnabled in interface Throttle
  
  Parameters:
  
  newVal - true if Release enabled, else false
- addPropertyChangeListener
  
  public void addPropertyChangeListener(PropertyChangeListener l)
  
  Temporary behaviour only allowing unique PCLs. To support Throttle PCL's ( eg. WiThrottle Server ) that rely on the previous behaviour of only allowing 1 unique PCL instance. To be removed when WiThrottle Server has been updated. Add a PropertyChangeListener to the listener list.
  
  Specified by:
  
  addPropertyChangeListener in interface PropertyChangeProvider
  
  Overrides:
  
  addPropertyChangeListener in class PropertyChangeSupport
  
  Parameters:
  
  l - The PropertyChangeListener to be added
- removePropertyChangeListener
  
  public void removePropertyChangeListener(PropertyChangeListener l)
  
  Remove the specified listener from this object.
  
  Specified by:
  
  removePropertyChangeListener in interface PropertyChangeProvider
  
  Overrides:
  
  removePropertyChangeListener in class PropertyChangeSupport
  
  Parameters:
  
  l - The PropertyChangeListener to remove.
- notifyPropertyChangeListener
  
  @Deprecated protected void notifyPropertyChangeListener(String property, Object oldValue, Object newValue)
  
  Deprecated.
  since 4.19.5; use PropertyChangeSupport.firePropertyChange(java.lang.String, java.lang.Object, java.lang.Object) instead
  
  Trigger the notification of all PropertyChangeListeners. Will only notify if oldValue and newValue are not equal and non-null.
  
  Parameters:
  
  property - the name of the property to send notifications for
  
  oldValue - the old value of the property
  
  newValue - the new value of the property
- getListeners
  
  @Deprecated public List<PropertyChangeListener> getListeners()
  
  Deprecated.
  
  Get a list of property change listeners.
  
  Specified by:
  
  getListeners in interface Throttle
  
  Returns:
  
  a list of listeners
- dispose
  
  public void dispose(ThrottleListener l)
  
  Call from a ThrottleListener to dispose of the throttle instance
  
  Specified by:
  
  dispose in interface Throttle
  
  Parameters:
  
  l - the listener requesting the dispose
- dispatch
  
  public void dispatch(ThrottleListener l)
  
  Finished with this Throttle, tell the layout that the locomotive is available for reuse/reallocation by somebody else. If possible, tell the layout that this locomotive has been dispatched to another user. Not all layouts will implement this, in which case it is synonymous with Throttle.release(jmri.ThrottleListener).
  After this, further usage of this Throttle object will result in a JmriException.
  Normally, dispatch ends with a call to dispose.
  
  Specified by:
  
  dispatch in interface Throttle
  
  Parameters:
  
  l - ThrottleListener to dispatch
- release
  
  public void release(ThrottleListener l)
  
  Finished with this Throttle, tell the layout that the locomotive is available for reuse/reallocation by somebody else.
  After this, further usage of this Throttle object will result in a JmriException. Do not call dispose after release.
  Normally, release ends with a call to dispose.
  
  Specified by:
  
  release in interface Throttle
  
  Parameters:
  
  l - ThrottleListener to release. May be null if no ThrottleListener is currently held.
- throttleDispose
  
  protected abstract void throttleDispose()
  
  Dispose when finished with this Throttle. Abstract Throttles normally call finishRecord(); here.
- getSpeedIncrement
  
  public float getSpeedIncrement()
  
  to handle quantized speed. Note this can change! Valued returned is always positive.
  
  Specified by:
  
  getSpeedIncrement in interface DccThrottle
  
  Returns:
  
  1 divided by the number of speed steps this DCC throttle supports
- sendFunctionGroup
  
  protected void sendFunctionGroup(int functionNum, boolean momentary)
  
  Send whole (DCC) Function Group for a particular function number.
  
  Parameters:
  
  functionNum - Function Number
  
  momentary - False to send normal function status, true to send momentary.
- setFunction
  
  public void setFunction(int functionNum, boolean newState)
  
  Set Loco Function and send to Layout.
  
  Specified by:
  
  setFunction in interface Throttle
  
  Parameters:
  
  functionNum - Function Number, 0-28
  
  newState - New Function State. True on, false off.
- updateFunction
  
  public void updateFunction(int fn, boolean state)
  
  Update the state of a single function. Updates function value and ChangeListener. Does not send outward message TO hardware.
  
  Parameters:
  
  fn - Function Number 0-28
  
  state - On - True, Off - False
- updateFunctionMomentary
  
  public void updateFunctionMomentary(int fn, boolean state)
  
  Update the Momentary state of a single function. Updates function value and ChangeListener. Does not send outward message TO hardware.
  
  Parameters:
  
  fn - Momentary Function Number 0-28
  
  state - On - True, Off - False
- sendFunctionGroup1
  
  protected void sendFunctionGroup1()
  
  Send the message to set the state of functions F0, F1, F2, F3, F4.
  This is used in the setFn implementations provided in this class, but a real implementation needs to be provided.
- sendFunctionGroup2
  
  protected void sendFunctionGroup2()
  
  Send the message to set the state of functions F5, F6, F7, F8.
  This is used in the setFn implementations provided in this class, but a real implementation needs to be provided.
- sendFunctionGroup3
  
  protected void sendFunctionGroup3()
  
  Send the message to set the state of functions F9, F10, F11, F12.
  This is used in the setFn implementations provided in this class, but a real implementation needs to be provided.
- sendFunctionGroup4
  
  protected void sendFunctionGroup4()
  
  Send the message to set the state of functions F13, F14, F15, F16, F17, F18, F19, F20.
  This is used in the setFn implementations provided in this class, but a real implementation needs to be provided.
- sendFunctionGroup5
  
  protected void sendFunctionGroup5()
  
  Send the message to set the state of functions F21, F22, F23, F24, F25, F26, F27, F28.
  This is used in the setFn implementations provided in this class, but a real implementation needs to be provided.
- setFunctionMomentary
  
  public void setFunctionMomentary(int momFuncNum, boolean state)
  
  Sets Momentary Function and sends to layout. Set Momentary Loco Function and send to Layout.
  
  Specified by:
  
  setFunctionMomentary in interface Throttle
  
  Parameters:
  
  momFuncNum - Momentary Function Number, 0-28
  
  state - New Function State. True on, false off.
- sendMomentaryFunctionGroup1
  
  protected void sendMomentaryFunctionGroup1()
  
  Send the message to set the momentary state of functions F0, F1, F2, F3, F4.
  This is used in the setFnMomentary implementations provided in this class, a real implementation needs to be provided if the hardware supports setting functions momentary.
- sendMomentaryFunctionGroup2
  
  protected void sendMomentaryFunctionGroup2()
  
  Send the message to set the momentary state of functions F5, F6, F7, F8.
  This is used in the setFnMomentary implementations provided in this class, but a real implementation needs to be provided if the hardware supports setting functions momentary.
- sendMomentaryFunctionGroup3
  
  protected void sendMomentaryFunctionGroup3()
  
  Send the message to set the Momentary state of functions F9, F10, F11, F12
  This is used in the setFnMomentary implementations provided in this class, but a real implementation needs to be provided if the hardware supports setting functions momentary.
- sendMomentaryFunctionGroup4
  
  protected void sendMomentaryFunctionGroup4()
  
  Send the message to set the Momentary state of functions F13, F14, F15, F16, F17, F18, F19, F20
  This is used in the setFnMomentary implementations provided in this class, but a real implementation needs to be provided if the hardware supports setting functions momentary.
- sendMomentaryFunctionGroup5
  
  protected void sendMomentaryFunctionGroup5()
  
  Send the message to set the Momentary state of functions F21, F22, F23, F24, F25, F26, F27, F28
  This is used in the setFnMomentary implementations provided in this class, but a real implementation needs to be provided if the hardware supports setting functions momentary.
- setSpeedStepMode
  
  public void setSpeedStepMode(SpeedStepMode mode)
  
  Set the speed step value. Default should be 128 speed step mode in most cases.
  Specific implementations should override this function.
  
  Specified by:
  
  setSpeedStepMode in interface DccThrottle
  
  Parameters:
  
  mode - the current speed step mode
- getSpeedStepMode
  
  public SpeedStepMode getSpeedStepMode()
  
  Description copied from interface: DccThrottle
  
  Get the current speed step value.
  
  Specified by:
  
  getSpeedStepMode in interface DccThrottle
  
  Returns:
  
  the current speed step mode
- record
  
  protected void record(float speed)
  
  Processes updated speed from subclasses. Tracks total operating time for the roster entry by starting the clock if speed is non-zero or stopping the clock otherwise.
  
  Parameters:
  
  speed - the current speed
- startClock
  
  protected void startClock()
- stopClock
  
  void stopClock()
- finishRecord
  
  protected void finishRecord()
- setRosterEntry
  
  public void setRosterEntry(BasicRosterEntry re)
  
  Specified by:
  
  setRosterEntry in interface Throttle
- getRosterEntry
  
  public BasicRosterEntry getRosterEntry()
  
  Specified by:
  
  getRosterEntry in interface Throttle
- intSpeed
  
  protected int intSpeed(float speed)
  
  Get an integer speed for the given raw speed value. This is a convenience method that calls intSpeed(float, int) with a maxStep of 127.
  
  Parameters:
  
  speed - the speed as a percentage of maximum possible speed; negative values indicate a need for an emergency stop
  
  Returns:
  
  an integer in the range 0-127
- intSpeed
  
  protected int intSpeed(float speed, int steps)
  
  Get an integer speed for the given raw speed value.
  
  Parameters:
  
  speed - the speed as a percentage of maximum possible speed; negative values indicate a need for an emergency stop
  
  steps - number of possible speeds; values less than 2 will cause errors
  
  Returns:
  
  an integer in the range 0-steps

Class AbstractThrottle