BaseRegulatedMotor

java.lang.Object
- ev3dev.hardware.Device
- - ev3dev.hardware.EV3DevSysfs
  - - ev3dev.hardware.EV3DevDevice
    - - ev3dev.hardware.motor.BaseRegulatedMotor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, BaseMotor, Encoder, RegulatedMotor, Tachometer

Direct Known Subclasses:

EV3LargeRegulatedMotor, EV3MediumRegulatedMotor, NXTRegulatedMotor
```
public abstract class BaseRegulatedMotor
extends EV3DevDevice
implements RegulatedMotor
```
Abstraction for a Regulated motor motor. The basic control methods are: forward, backward, reverseDirection, stop and flt. To set each motor's velocity, use setSpeed . The maximum velocity of the motor is limited by the battery voltage and load. With no load, the maximum degrees per second is about 100 times the voltage (for the large EV3 motor).
The velocity is regulated by comparing the tacho count with velocity times elapsed time, and adjusting motor power to keep these closely matched. Changes in velocity will be made at the rate specified via the setAcceleration(int acceleration) method. The methods rotate(int angle) and rotateTo(int ange) use the tachometer to control the position at which the motor stops, usually within 1 degree or 2.

Listeners. An object implementing the RegulatedMotorListener interface may register with this class. It will be informed each time the motor starts or stops.
Stall detection If a stall is detected or if for some other reason the speed regulation fails, the motor will stop, and isStalled() returns true.
Motors will hold their position when stopped. If this is not what you require use the flt() method instead of stop(). TODO: Fix the name

Field Summary

Fields
Modifier and Type	Field and Description
`protected int`	`acceleration`
`private java.lang.String`	`BRAKE`
`private java.lang.String`	`COMMAND`
`private java.lang.String`	`DUTY_CYCLE`
`private int`	`local_speed`
`private java.lang.String`	`MODE`
`private java.lang.String`	`POSITION`
`private boolean`	`regulationFlag`
`private java.lang.String`	`RESET`
`private java.lang.String`	`RUN_FOREVER`
`private java.lang.String`	`RUN_TO_ABS_POS`
`private java.lang.String`	`RUN_TO_REL_POS`
`protected float`	`speed`
`private java.lang.String`	`SPEED`
`private java.lang.String`	`SPEED_REGULATION`
`private java.lang.String`	`SPEED_REGULATION_OFF`
`private java.lang.String`	`SPEED_REGULATION_ON`
`private java.lang.String`	`STATE`
`private java.lang.String`	`STATE_RUNNING`
`private java.lang.String`	`STATE_STALLED`
`private java.lang.String`	`STOP`
`private static java.lang.String`	`SYSTEM_CLASS_NAME`
`private static java.lang.String`	`SYSTEM_PORT_CLASS_NAME`

Fields inherited from class ev3dev.hardware.EV3DevDevice
PATH_DEVICE

Fields inherited from class ev3dev.hardware.Device
closeList

Constructor Summary

Constructors
Constructor and Description
`BaseRegulatedMotor(java.lang.String motorPort, float moveP, float moveI, float moveD, float holdP, float holdI, float holdD, int offset, int maxSpeed)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`backward()` Causes motor to rotate backwards until `stop()` or `flt()` is called.
`void`	`close()` Close the motor regulator.
`void`	`flt()` Set the motor into float mode.
`void`	`forward()` Causes motor to rotate forward until `stop()` or `flt()` is called.
`float`	`getPosition()` Returns the current position that the motor regulator is trying to maintain.
`int`	`getRotationSpeed()` Return the current velocity.
`int`	`getSpeed()` Return the current target speed.
`int`	`getTachoCount()` Returns the tachometer count.
`boolean`	`isMoving()` This method returns true if the motor is attempting to rotate.
`private boolean`	`isRunning()`
`boolean`	`isStalled()` Return true if the motor is currently stalled.
`void`	`resetTachoCount()` Reset the tachometer associated with this motor.
`void`	`rotate(int angle)` Rotate by the requested number of degrees.
`void`	`rotate(int angle, boolean immediateReturn)` Rotate by the request number of degrees.
`void`	`rotateTo(int limitAngle)` Rotate to the target angle.
`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`	`setSpeed(int speed)` Sets desired motor speed , in degrees per second; The maximum reliably sustainable velocity is 100 x battery voltage under moderate load, such as a direct drive robot on the level.
`void`	`stop()` Causes motor to stop, pretty much instantaneously.
`boolean`	`suspendRegulation()` Removes this motor from the motor regulation system.

Methods inherited from class ev3dev.hardware.EV3DevDevice
connect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class ev3dev.hardware.EV3DevSysfs
getElements, readFloat, readInteger, readString, writeInteger, writeString

Methods inherited from class ev3dev.hardware.Device
releaseOnClose

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

- Field Detail
  - speed
```
protected float speed
```
  - acceleration
```
protected int acceleration
```
  - SYSTEM_CLASS_NAME
```
private static final java.lang.String SYSTEM_CLASS_NAME
```
    See Also:
    
    Constant Field Values
  - SYSTEM_PORT_CLASS_NAME
```
private static final java.lang.String SYSTEM_PORT_CLASS_NAME
```
    See Also:
    
    Constant Field Values
  - MODE
```
private final java.lang.String MODE
```
    See Also:
    
    Constant Field Values
  - SPEED_REGULATION
```
private final java.lang.String SPEED_REGULATION
```
    See Also:
    
    Constant Field Values
  - SPEED_REGULATION_ON
```
private final java.lang.String SPEED_REGULATION_ON
```
    See Also:
    
    Constant Field Values
  - SPEED_REGULATION_OFF
```
private final java.lang.String SPEED_REGULATION_OFF
```
    See Also:
    
    Constant Field Values
  - POSITION
```
private final java.lang.String POSITION
```
    See Also:
    
    Constant Field Values
  - SPEED
```
private final java.lang.String SPEED
```
    See Also:
    
    Constant Field Values
  - DUTY_CYCLE
```
private final java.lang.String DUTY_CYCLE
```
    See Also:
    
    Constant Field Values
  - COMMAND
```
private final java.lang.String COMMAND
```
    See Also:
    
    Constant Field Values
  - RUN_FOREVER
```
private final java.lang.String RUN_FOREVER
```
    See Also:
    
    Constant Field Values
  - BRAKE
```
private final java.lang.String BRAKE
```
    See Also:
    
    Constant Field Values
  - STOP
```
private final java.lang.String STOP
```
    See Also:
    
    Constant Field Values
  - RESET
```
private final java.lang.String RESET
```
    See Also:
    
    Constant Field Values
  - RUN_TO_REL_POS
```
private final java.lang.String RUN_TO_REL_POS
```
    See Also:
    
    Constant Field Values
  - RUN_TO_ABS_POS
```
private final java.lang.String RUN_TO_ABS_POS
```
    See Also:
    
    Constant Field Values
  - STATE
```
private final java.lang.String STATE
```
    See Also:
    
    Constant Field Values
  - STATE_RUNNING
```
private final java.lang.String STATE_RUNNING
```
    See Also:
    
    Constant Field Values
  - STATE_STALLED
```
private final java.lang.String STATE_STALLED
```
    See Also:
    
    Constant Field Values
  - local_speed
```
private int local_speed
```
  - regulationFlag
```
private boolean regulationFlag
```
- Constructor Detail
  - BaseRegulatedMotor
```
public BaseRegulatedMotor(java.lang.String motorPort,
                          float moveP,
                          float moveI,
                          float moveD,
                          float holdP,
                          float holdI,
                          float holdD,
                          int offset,
                          int maxSpeed)
```
- Method Detail
  - close
```
public void close()
```
    Close the motor regulator. Release the motor from regulation and free any associated resources.
    
    Specified by:
    
    close in interface java.io.Closeable
    
    Specified by:
    
    close in interface java.lang.AutoCloseable
    
    Specified by:
    
    close in interface RegulatedMotor
    
    Overrides:
    
    close in class Device
  - suspendRegulation
```
public boolean suspendRegulation()
```
    Removes this motor from the motor regulation system. After this call the motor will be in float mode and will have stopped. Note calling any of the high level move operations (forward, rotate etc.), will automatically enable regulation.
    
    Returns:
    
    true iff regulation has been suspended.
  - getTachoCount
```
public int getTachoCount()
```
    Description copied from interface: Encoder
    
    Returns the tachometer count.
    
    Specified by:
    
    getTachoCount in interface Encoder
    
    Returns:
    
    the current tachometer count.
    
    See Also:
    
    Encoder.getTachoCount()
  - getPosition
```
public float getPosition()
```
    Returns the current position that the motor regulator is trying to maintain. Normally this will be the actual position of the motor and will be the same as the value returned by getTachoCount(). However in some circumstances (activeMotors that are in the process of stalling, or activeMotors that have been forced out of position), the two values may differ. Note that if regulation has been suspended calling this method will restart it.
    
    Returns:
    
    the current position calculated by the regulator.
  - forward
```
public void forward()
```
    Description copied from interface: BaseMotor
    
    Causes motor to rotate forward until stop() or flt() is called.
    
    Specified by:
    
    forward in interface BaseMotor
    
    See Also:
    
    lejos.hardware.motor.BasicMotor#forward()
  - backward
```
public void backward()
```
    Description copied from interface: BaseMotor
    
    Causes motor to rotate backwards until stop() or flt() is called.
    
    Specified by:
    
    backward in interface BaseMotor
    
    See Also:
    
    lejos.hardware.motor.BasicMotor#backward()
  - flt
```
public void flt()
```
    Set the motor into float mode. This will stop the motor without braking and the position of the motor will not be maintained.
    
    Specified by:
    
    flt in interface BaseMotor
  - stop
```
public void stop()
```
    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
    
    Specified by:
    
    stop in interface BaseMotor
  - isMoving
```
public boolean isMoving()
```
    This method returns true if the motor is attempting to rotate. The return value may not correspond to the actual motor movement.
    For example, If the motor is stalled, isMoving() will return true.
    After flt() is called, this method will return false even though the motor axle may continue to rotate by inertia. If the motor is stalled, isMoving() will return true. . A stall can be detected by calling isStalled();
    
    Specified by:
    
    isMoving in interface BaseMotor
    
    Returns:
    
    true iff the motor is attempting to rotate.
  - setSpeed
```
public void setSpeed(int speed)
```
    Sets desired motor speed , in degrees per second; The maximum reliably sustainable velocity is 100 x battery voltage under moderate load, such as a direct drive robot on the level.
    
    Specified by:
    
    setSpeed in interface RegulatedMotor
    
    Parameters:
    
    speed - value in degrees/sec
  - resetTachoCount
```
public void resetTachoCount()
```
    Reset the tachometer associated with this motor. Note calling this method will cause any current move operation to be halted.
    
    Specified by:
    
    resetTachoCount in interface Encoder
  - isRunning
```
private boolean isRunning()
```
  - rotate
```
public void rotate(int angle,
                   boolean immediateReturn)
```
    Rotate by the request number of degrees.
    
    Specified by:
    
    rotate in interface RegulatedMotor
    
    Parameters:
    
    angle - number of degrees to rotate relative to the current position
    
    immediateReturn - if true do not wait for the move to complete Rotate by the requested number of degrees. Wait for the move to complete.
    
    angle -
    
    See Also:
    
    RegulatedMotor.rotate(int, boolean)
  - rotate
```
public void rotate(int angle)
```
    Rotate by the requested number of degrees. Wait for the move to complete.
    
    Specified by:
    
    rotate in interface RegulatedMotor
    
    Parameters:
    
    angle -
  - rotateTo
```
public void rotateTo(int limitAngle,
                     boolean immediateReturn)
```
    Description copied from interface: RegulatedMotor
    
    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;
    
    Specified by:
    
    rotateTo in interface RegulatedMotor
    
    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.
  - rotateTo
```
public void rotateTo(int limitAngle)
```
    Rotate to the target angle. Do not return until the move is complete.
    
    Specified by:
    
    rotateTo in interface RegulatedMotor
    
    Parameters:
    
    limitAngle - Angle to rotate to.
  - getSpeed
```
public int getSpeed()
```
    Return the current target speed.
    
    Specified by:
    
    getSpeed in interface RegulatedMotor
    
    Returns:
    
    the current target speed.
  - isStalled
```
public boolean isStalled()
```
    Return true if the motor is currently stalled.
    
    Specified by:
    
    isStalled in interface RegulatedMotor
    
    Returns:
    
    true if the motor is stalled, else false
  - getRotationSpeed
```
public int getRotationSpeed()
```
    Return the current velocity.
    
    Specified by:
    
    getRotationSpeed in interface Tachometer
    
    Returns:
    
    current velocity in degrees/s

Class BaseRegulatedMotor

Field Summary

Fields inherited from class ev3dev.hardware.EV3DevDevice

Fields inherited from class ev3dev.hardware.Device

Constructor Summary

Method Summary

Methods inherited from class ev3dev.hardware.EV3DevDevice

Methods inherited from class ev3dev.hardware.EV3DevSysfs

Methods inherited from class ev3dev.hardware.Device

Methods inherited from class java.lang.Object

Field Detail

speed

acceleration

SYSTEM_CLASS_NAME

SYSTEM_PORT_CLASS_NAME

MODE

SPEED_REGULATION

SPEED_REGULATION_ON

SPEED_REGULATION_OFF

POSITION

SPEED

DUTY_CYCLE

COMMAND

RUN_FOREVER

BRAKE

STOP

RESET

RUN_TO_REL_POS

RUN_TO_ABS_POS

STATE

STATE_RUNNING

STATE_STALLED

local_speed

regulationFlag

Constructor Detail

BaseRegulatedMotor

Method Detail

close

suspendRegulation

getTachoCount

getPosition

forward

backward

flt

stop

isMoving

setSpeed

resetTachoCount

isRunning

rotate

rotate

rotateTo

rotateTo

getSpeed

isStalled

getRotationSpeed