MirrorMotor (leJOS NXJ PC-API documentation)

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lejos.robotics
Class MirrorMotor

java.lang.Object
  lejos.robotics.MirrorMotor

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

public class MirrorMotor
extends java.lang.Object
implements RegulatedMotor, RegulatedMotorListener
extends java.lang.Object
implements RegulatedMotor, RegulatedMotorListener

This class returns a motor that rotates in the reverse direction of a regular motor. All tachometer readings are also reversed.

Use the factory method MirrorMotor.invertMotor(RegulatedMotor) to retrieve an inverted motor.

Author:: BB

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()` Motor loses all power, causing the rotor to float freely to a stop.
`void`	`flt(boolean immediateReturn)` Set the motor into float mode.
`void`	`forward()` Causes motor to rotate forward until `stop()` or `flt()` is called.
`int`	`getLimitAngle()` Return the limit angle (if any)
`float`	`getMaxSpeed()` Returns the maximim speed of the motor.
`int`	`getRotationSpeed()` Returns the actual speed.
`int`	`getSpeed()` Returns the current motor speed.
`int`	`getTachoCount()` Returns the tachometer count.
`static EncoderMotor`	`invertMotor(EncoderMotor motor)` Returns an inverted EncoderMotor.
`static RegulatedMotor`	`invertMotor(RegulatedMotor motor)` Returns an inverted RegulatedMotor.
`boolean`	`isMoving()` Return `true` if the motor is moving.
`boolean`	`isStalled()` returns true if motor is stalled
`RegulatedMotorListener`	`removeListener()` Removes the RegulatedMotorListener from this class.
`void`	`resetTachoCount()` Reset the tachometer count.
`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 angle)` Causes motor to rotate to limitAngle; Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
`void`	`rotateTo(int angle, 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`	`rotationStarted(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)` Called when the motor starts rotating.
`void`	`rotationStopped(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)` Called when the motor stops rotating.
`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()` Causes motor to stop immediately.
`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 java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Method Detail

invertMotor

public static RegulatedMotor invertMotor(RegulatedMotor motor)

Returns an inverted RegulatedMotor.

Parameters:: motor - A RegulatedMotor, such as Motor.A.
Returns:: An inverted RegulatedMotor.

invertMotor

public static EncoderMotor invertMotor(EncoderMotor motor)

Returns an inverted EncoderMotor.

Parameters:: motor - An EncoderMotor, such as NXTMotor.
Returns:: An inverted EncoderMotor.