Package lejos.hardware.device.tetrix

Class TetrixEncoderMotor

java.lang.Object

lejos.hardware.device.tetrix.TetrixMotor

lejos.hardware.device.tetrix.TetrixEncoderMotor

All Implemented Interfaces:

BaseMotor, DCMotor, Encoder

Direct Known Subclasses:

TetrixRegulatedMotor

public class TetrixEncoderMotor
extends TetrixMotor
implements Encoder

Tetrix DC motor abstraction with encoder support. The Tetrix motor must have an encoder installed and connected to the controller for the methods in this class to work. If an encoder is not installed, use the TetrixMotor class instead.

Use TetrixMotorController.getEncoderMotor(int) to retrieve a TetrixEncoderMotor instance.

Author:

Kirk P. Thompson

Method Summary

Modifier and Type	Method	Description
int	getLimitAngle()	Return the last angle that this motor was rotating to via one of the rotate methods.
int	getTachoCount()	Returns the tachometer count.
void	resetTachoCount()	Reset the the tachometer count.
void	rotate(int degrees, boolean immediateReturn)	Rotate by the requested number of degrees with option for wait until completion or immediate return where the motor completes its rotation asynchronously.
void	rotateTo(int limitAngle, boolean immediateReturn)	Rotate to the target angle with option for wait until completion or immediate return where the motor completes its rotation asynchronously.
void	setRegulate(boolean regulate)	Disable or Enable internal motor controller speed regulation.

Methods inherited from class lejos.hardware.device.tetrix.TetrixMotor

backward, flt, forward, getPower, isMoving, setPower, setReverse, stop

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getTachoCount

public int getTachoCount()

Description copied from interface: Encoder

Returns the tachometer count.

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

resetTachoCount

public void resetTachoCount()

Reset the the tachometer count. Calling this method will stop any current motor action. This is imposed by the HiTechic Motor Controller firmware.

Specified by:

resetTachoCount in interface Encoder

rotate

public void rotate(int degrees,
                   boolean immediateReturn)

Rotate by the requested number of degrees with option for wait until completion or immediate return where the motor completes its rotation asynchronously.

Parameters:

degrees - number of degrees to rotate relative to the current position.

immediateReturn - if true, do not wait for the move to complete. false will block until the rotation completes.

rotateTo

public void rotateTo(int limitAngle,
                     boolean immediateReturn)

Rotate to the target angle with option for wait until completion or immediate return where the motor completes its rotation asynchronously.

Parameters:

limitAngle - Angle [in degrees] to rotate to.

immediateReturn - if true, do not wait for the move to complete. false will block until the rotation completes.

getLimitAngle

public int getLimitAngle()

Return the last angle that this motor was rotating to via one of the rotate methods.

Returns:

angle in degrees

setRegulate

public void setRegulate(boolean regulate)

Disable or Enable internal motor controller speed regulation. Setting this to true will cause the motor controller firmware to adjust the motor power to compensate for changing loads in order to maintain a constant motor speed. Default at instantiation is false.

Parameters:

regulate - true to enable regulation, false otherwise.