Package lejos.robotics

Interface RegulatedMotor

All Superinterfaces:

BaseMotor, Encoder, EV3DevBaseMotor, Tachometer

public interface RegulatedMotor
extends BaseMotor, EV3DevBaseMotor, Tachometer

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

Method Summary

Modifier and Type	Method and Description
void	addListener(RegulatedMotorListener listener) Adds a listener object that will be notified when rotation has started or stopped
void	endSynchronization() Complete a set of synchronized motors operations.
void	flt(boolean immediateReturn) Set the motor into float mode.
float	getMaxSpeed() Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
int	getSpeed() Returns the current motors speed.
boolean	isStalled() returns true if motors is stalled
RegulatedMotorListener	removeListener() Removes the RegulatedMotorListener from this class.
void	rotate(int angle) Causes motors to rotate by a specified angle.
void	rotate(int angle, boolean immediateReturn) causes motors to rotate through angle; iff immediateReturn is true, method returns immediately and the motors stops by itself If any motors method is called before the limit is reached, the rotation is canceled.
void	rotateTo(int limitAngle) Causes motors 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 motors to rotate to limitAngle; if immediateReturn is true, method returns immediately and the motors stops by itself and getTachoCount should be within +- 2 degrees if the limit angle If any motors 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 motors speed.
void	startSynchronization() Begin a set of synchronized motors operations
void	stop(boolean immediateReturn) Causes motor to stop, pretty much instantaneously.
void	synchronizeWith(RegulatedMotor[] syncList) Specify a set of motors that should be kept in synchronization with this one.
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.EV3DevBaseMotor

brake, coast, hold

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 motors to rotate through angle;
iff immediateReturn is true, method returns immediately and the motors stops by itself
If any motors 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 motors 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 motors 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 motors will rotate.

rotateTo

void rotateTo(int limitAngle)

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

Parameters:

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

rotateTo

void rotateTo(int limitAngle,
              boolean immediateReturn)

causes motors to rotate to limitAngle;
if immediateReturn is true, method returns immediately and the motors stops by itself
and getTachoCount should be within +- 2 degrees if the limit angle If any motors 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 motors 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.

setSpeed

void setSpeed(int speed)

Set motors speed. As a rule of thumb 100 degrees per second are possible for each volt on an NXT motors. 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 motors speed.

Returns:

motors speed in degrees per second

getMaxSpeed

float getMaxSpeed()

Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.

Returns:

the maximum speed of the Motor in degrees per second.

isStalled

boolean isStalled()

returns true if motors is stalled

Returns:

true if stalled

setAcceleration

void setAcceleration(int acceleration)

Set the required rate of acceleration degrees/s/s

Parameters:

acceleration -

synchronizeWith

void synchronizeWith(RegulatedMotor[] syncList)

Specify a set of motors that should be kept in synchronization with this one. The synchronization mechanism simply ensures that operations between a startSynchronization call and an endSynchronization call will all be executed at the same time (when the endSynchronization method is called). This is all that is needed to ensure that motors will operate in a synchronized fashion. The start/end methods can also be used to ensure that reads of the motors state will also be consistent.

Parameters:

syncList - an array of motors to synchronize with.

startSynchronization

void startSynchronization()

Begin a set of synchronized motors operations

endSynchronization

void endSynchronization()

Complete a set of synchronized motors operations.