jabrena/MotorEncoderTest.java

## MotorEncoderTest.java
package example;

import ev3dev.actuators.lego.motors.EV3LargeRegulatedMotor;
import java.util.Arrays;
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.function.Consumer;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
import lejos.hardware.port.MotorPort;
import lejos.robotics.RegulatedMotor;
import lejos.utility.Delay;
import lombok.extern.slf4j.Slf4j;

@Slf4j
public class MotorEncoderTest {

    Consumer<RegulatedMotor> readMotor = motor -> {

        IntStream.rangeClosed(1,50).boxed()
            .forEach(i -> {
                LOGGER.info("{} {}", i , motor.getTachoCount());
                Delay.msDelay(200);
            });
    };

    Consumer<RegulatedMotor> writeMotor = motor -> {

        IntStream.rangeClosed(1, 2).boxed()
            .forEach(i -> {
                LOGGER.info("FORWARD");
                motor.forward();
                Delay.msDelay(2000);
                LOGGER.info("BACKWARD");
                motor.backward();
                Delay.msDelay(2000);
            });
    };

    Consumer<RegulatedMotor> processTasks = motor ->  {

        final ExecutorService executor = Executors.newFixedThreadPool(2);

        List<CompletableFuture<Void>> motorTasks = Arrays.asList(
                CompletableFuture.runAsync(() -> this.readMotor.accept(motor), executor),
                CompletableFuture.runAsync(() -> this.writeMotor.accept(motor), executor)).stream()
                .collect(Collectors.toList());

        motorTasks.stream().forEach(CompletableFuture::join);

        executor.shutdown();

        motor.stop();

        LOGGER.info("End");
    };

    public static void main(String[] args) throws Exception{

        LOGGER.info("MotorEncoderTest");

        MotorEncoderTest example = new MotorEncoderTest();

        example.processTasks.accept(new EV3LargeRegulatedMotor(MotorPort.A));

        System.exit(0);
    }
}
	package example;

	import ev3dev.actuators.lego.motors.EV3LargeRegulatedMotor;
	import java.util.Arrays;
	import java.util.List;
	import java.util.concurrent.CompletableFuture;
	import java.util.concurrent.ExecutorService;
	import java.util.concurrent.Executors;
	import java.util.function.Consumer;
	import java.util.stream.Collectors;
	import java.util.stream.IntStream;
	import lejos.hardware.port.MotorPort;
	import lejos.robotics.RegulatedMotor;
	import lejos.utility.Delay;
	import lombok.extern.slf4j.Slf4j;

	@Slf4j
	public class MotorEncoderTest {

	Consumer<RegulatedMotor> readMotor = motor -> {

	IntStream.rangeClosed(1,50).boxed()
	.forEach(i -> {
	LOGGER.info("{} {}", i , motor.getTachoCount());
	Delay.msDelay(200);
	});
	};

	Consumer<RegulatedMotor> writeMotor = motor -> {

	IntStream.rangeClosed(1, 2).boxed()
	.forEach(i -> {
	LOGGER.info("FORWARD");
	motor.forward();
	Delay.msDelay(2000);
	LOGGER.info("BACKWARD");
	motor.backward();
	Delay.msDelay(2000);
	});
	};

	Consumer<RegulatedMotor> processTasks = motor -> {

	final ExecutorService executor = Executors.newFixedThreadPool(2);

	List<CompletableFuture<Void>> motorTasks = Arrays.asList(
	CompletableFuture.runAsync(() -> this.readMotor.accept(motor), executor),
	CompletableFuture.runAsync(() -> this.writeMotor.accept(motor), executor)).stream()
	.collect(Collectors.toList());

	motorTasks.stream().forEach(CompletableFuture::join);

	executor.shutdown();

	motor.stop();

	LOGGER.info("End");
	};

	public static void main(String[] args) throws Exception{

	LOGGER.info("MotorEncoderTest");

	MotorEncoderTest example = new MotorEncoderTest();

	example.processTasks.accept(new EV3LargeRegulatedMotor(MotorPort.A));

	System.exit(0);
	}
	}