TetrixRegulatedMotor (leJOS NXJ API documentation)

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lejos.nxt.addon.tetrix
Class TetrixRegulatedMotor

java.lang.Object
  lejos.nxt.addon.tetrix.TetrixMotor
      lejos.nxt.addon.tetrix.TetrixEncoderMotor
          lejos.nxt.addon.tetrix.TetrixRegulatedMotor

All Implemented Interfaces:: BaseMotor, DCMotor, Encoder, RegulatedMotor, Tachometer

public class TetrixRegulatedMotor
extends TetrixEncoderMotor
implements RegulatedMotor
extends TetrixEncoderMotor
implements RegulatedMotor

Tetrix DC motor abstraction with encoder support that implements RegulatedMotor. The Tetrix motor must have an encoder installed and connected to the controller for the methods in this class to work. If an encoder is not installed, use the TetrixMotor class instead.

Use TetrixMotorController.getRegulatedMotor(int) to retrieve a TetrixRegulatedMotor instance.

Author:: Kirk P. Thompson

Constructor Summary
`TetrixRegulatedMotor(TetrixMotorController mc, int channel)`

Method Summary
`void`	`addListener(RegulatedMotorListener listener)` Adds a listener object that will be notified when rotation has started or stopped
`void`	`backward()` Causes motor to rotate backwards until `stop()` or `flt()` is called.
`void`	`flt(boolean immediateReturn)` Set the motor into float mode.
`void`	`forward()` Causes motor to rotate forward until `stop()` or `flt()` is called.
`float`	`getMaxSpeed()` NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
`int`	`getRotationSpeed()` Return the current rotational speed calculated from the encoder position every 100 ms.
`int`	`getSpeed()` Return the speed value calculated from the actual power value as:
`boolean`	`isStalled()` NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
`RegulatedMotorListener`	`removeListener()` Removes the RegulatedMotorListener from this class.
`void`	`rotate(int angle)` Rotate by the requested number of degrees while blocking until completion.
`void`	`rotate(int degrees, boolean immediateReturn)` Rotate by the requested number of degrees with option for wait until completion or immediate return where the motor completes its rotation asynchronously.
`void`	`rotateTo(int limitAngle)` Rotate to the target angle while blocking until completion.
`void`	`rotateTo(int limitAngle, boolean immediateReturn)` Rotate to the target angle with option for wait until completion or immediate return where the motor completes its rotation asynchronously.
`void`	`setAcceleration(int acceleration)` NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
`void`	`setRegulate(boolean regulate)` OVERRIDDEN TO NOT ALLOW CHANGE OF REGULATED STATE as the `TetrixRegulatedMotor` class must use regulation.
`void`	`setSpeed(int speed)` Sets desired motor speed, in degrees per second.
`void`	`setStallThreshold(int error, int time)` NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
`void`	`stop(boolean immediateReturn)` Causes motor to stop, pretty much instantaneously.
`void`	`waitComplete()` Wait until the current movement operation is complete (this can include the motor stalling).

Methods inherited from class lejos.nxt.addon.tetrix.TetrixEncoderMotor
`getLimitAngle, getTachoCount, resetTachoCount`

Methods inherited from class lejos.nxt.addon.tetrix.TetrixMotor
`flt, getPower, isMoving, setPower, setReverse, stop`

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

Methods inherited from interface lejos.robotics.RegulatedMotor
`getLimitAngle`

Methods inherited from interface lejos.robotics.BaseMotor
`flt, isMoving, stop`

Methods inherited from interface lejos.robotics.Encoder
`getTachoCount, resetTachoCount`

Constructor Detail

TetrixRegulatedMotor

public TetrixRegulatedMotor(TetrixMotorController mc,
                            int channel)

Method Detail

setRegulate

public void setRegulate(boolean regulate)

OVERRIDDEN TO NOT ALLOW CHANGE OF REGULATED STATE as the TetrixRegulatedMotor class must use regulation. Motors are always in regulated mode when using the TetrixRegulatedMotor class.

Overrides:: setRegulate in class TetrixEncoderMotor

Parameters:: regulate - Ignored