lejos.robotics
Interface RegulatedMotor

All Superinterfaces:

BaseMotor, Encoder, Tachometer

All Known Implementing Classes:

MirrorMotor, MMXRegulatedMotor, NXTRegulatedMotor, RemoteMotor, TetrixRegulatedMotor

public interface RegulatedMotor
extends BaseMotor, Tachometer

Interface for encoded motors without limited range of movement (e.g. NXT motor). TODO: Alternate names: EncodedMotor,EncoderMotor.

Author:

dsturze

Method Summary

void	addListener(RegulatedMotorListener listener) Adds a listener object that will be notified when rotation has started or stopped
void	flt(boolean immediateReturn) Set the motor into float mode.
int	getLimitAngle() Return the limit angle (if any)
float	getMaxSpeed() Returns the maximim speed of the motor.
int	getSpeed() Returns the current motor speed.
boolean	isStalled() returns true if motor is stalled
RegulatedMotorListener	removeListener() Removes the RegulatedMotorListener from this class.
void	rotate(int angle) Causes motor to rotate by a specified angle.
void	rotate(int angle, boolean immediateReturn) causes motor to rotate through angle; iff immediateReturn is true, method returns immediately and the motor stops by itself If any motor method is called before the limit is reached, the rotation is canceled.
void	rotateTo(int limitAngle) Causes motor to rotate to limitAngle; Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
void	rotateTo(int limitAngle, boolean immediateReturn) causes motor to rotate to limitAngle; if immediateReturn is true, method returns immediately and the motor stops by itself and getTachoCount should be within +- 2 degrees if the limit angle If any motor method is called before the limit is reached, the rotation is canceled.
void	setAcceleration(int acceleration) Set the required rate of acceleration degrees/s/s
void	setSpeed(int speed) Set motor speed.
void	setStallThreshold(int error, int time) Set the parameters for detecting a stalled motor.
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 interface lejos.robotics.BaseMotor

backward, flt, forward, isMoving, stop

Methods inherited from interface lejos.robotics.Tachometer

getRotationSpeed

Methods inherited from interface lejos.robotics.Encoder

getTachoCount, resetTachoCount

Method Detail

addListener

void addListener(RegulatedMotorListener listener)

Adds a listener object that will be notified when rotation has started or stopped

Parameters:

listener -

removeListener

RegulatedMotorListener removeListener()

Removes the RegulatedMotorListener from this class.

Returns:

The RegulatedMotorListener that was removed, if any. Null if none existed.

stop

void stop(boolean immediateReturn)

Causes motor to stop, pretty much instantaneously. In other words, the motor doesn't just stop; it will resist any further motion. Cancels any rotate() orders in progress

Parameters:

immediateReturn - if true do not wait for the motor to actually stop

flt

void flt(boolean immediateReturn)

Set the motor into float mode. This will stop the motor without braking and the position of the motor will not be maintained.

Parameters:

immediateReturn - If true do not wait for the motor to actually stop

waitComplete

void waitComplete()

Wait until the current movement operation is complete (this can include the motor stalling).

rotate

void rotate(int angle,
            boolean immediateReturn)

causes motor to rotate through angle;
iff immediateReturn is true, method returns immediately and the motor stops by itself
If any motor method is called before the limit is reached, the rotation is canceled. When the angle is reached, the method isMoving() returns false;

Parameters:

angle - through which the motor will rotate

immediateReturn - iff true, method returns immediately, thus allowing monitoring of sensors in the calling thread.

See Also:

rotate(int, boolean)

rotate

void rotate(int angle)

Causes motor to rotate by a specified angle. The resulting tachometer count should be within +- 2 degrees on the NXT. This method does not return until the rotation is completed.

Parameters:

angle - by which the motor will rotate.

rotateTo

void rotateTo(int limitAngle)

Causes motor to rotate to limitAngle;
Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns

Parameters:

limitAngle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.

rotateTo

void rotateTo(int limitAngle,
              boolean immediateReturn)

causes motor to rotate to limitAngle;
if immediateReturn is true, method returns immediately and the motor stops by itself
and getTachoCount should be within +- 2 degrees if the limit angle If any motor method is called before the limit is reached, the rotation is canceled. When the angle is reached, the method isMoving() returns false;

Parameters:

limitAngle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.

immediateReturn - iff true, method returns immediately, thus allowing monitoring of sensors in the calling thread.

getLimitAngle

int getLimitAngle()

Return the limit angle (if any)

Returns:

the current limit angle

setSpeed

void setSpeed(int speed)

Set motor speed. As a rule of thumb 100 degrees per second are possible for each volt on an NXT motor. Therefore, disposable alkaline batteries can achieve a top speed of 900 deg/sec, while a rechargable lithium battery pack can achieve 740 deg/sec.

Parameters:

speed - in degrees per second.

getSpeed

int getSpeed()

Returns the current motor speed.

Returns:

motor speed in degrees per second

getMaxSpeed

float getMaxSpeed()

Returns the maximim speed of the motor.

Returns:

the maximum speed of the Motor in degrees per second.

isStalled

boolean isStalled()

returns true if motor is stalled

Returns:

true if stalled

setStallThreshold

void setStallThreshold(int error,
                       int time)

Set the parameters for detecting a stalled motor. A motor will be recognized as stalled if the movement error (the amount the motor lags the regulated position) is greater than error for a period longer than time.

Parameters:

error - The error threshold

time - The time that the error threshold needs to be exceeded for.

setAcceleration

void setAcceleration(int acceleration)

Set the required rate of acceleration degrees/s/s

Parameters:

acceleration -