lejos.robotics

Interface RegulatedMotor

All Superinterfaces:

BaseMotor, Encoder, Tachometer

All Known Implementing Classes:

BaseRegulatedMotor, EV3LargeRegulatedMotor, EV3MediumRegulatedMotor, NXTRegulatedMotor

public interface RegulatedMotor
extends BaseMotor, 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	close() Close the ports, the ports can not be used after this call.
int	getSpeed() Returns the current motors speed.
boolean	isStalled() returns true if motors is stalled
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	setSpeed(int speed) Set motors speed.

Methods inherited from interface lejos.robotics.BaseMotor

backward, brake, coast, forward, hold, isMoving, stop

Methods inherited from interface lejos.robotics.Tachometer

getRotationSpeed

Methods inherited from interface lejos.robotics.Encoder

getTachoCount, resetTachoCount

Method Detail

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

isStalled

boolean isStalled()

returns true if motors is stalled

Returns:

true if stalled

close

void close()

Close the ports, the ports can not be used after this call.