java.lang.Object
- lejos.hardware.Device
- - lejos.hardware.motor.BaseRegulatedMotor

All Implemented Interfaces:

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

Direct Known Subclasses:

EV3LargeRegulatedMotor, EV3MediumRegulatedMotor, MindsensorsGlideWheelMRegulatedMotor, MindsensorsGlideWheelXLRegulatedMotor, NXTRegulatedMotor
```
public abstract class BaseRegulatedMotor
extends Device
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().

Example:
```
   Motor.A.setSpeed(720);// 2 RPM
   Motor.C.setSpeed(720);
   Motor.A.forward();
   Motor.C.forward();
   Delay.msDelay(1000);
   Motor.A.stop();
   Motor.C.stop();
   Motor.A.rotateTo( 360);
   Motor.A.rotate(-720,true);
   while(Motor.A.isMoving()Thread.yield();
   int angle = Motor.A.getTachoCount(); // should be -360
   LCD.drawInt(angle,0,0);
 
```
TODO: Fix the name
Author:

Roger Glassey/Andy Shaw

Field Summary

Fields
Modifier and Type	Field	Description
`protected int`	`acceleration`
`protected int`	`MAX_SPEED_AT_9V`
`protected static int`	`NO_LIMIT`
`protected MotorRegulator`	`reg`
`protected float`	`speed`
`protected TachoMotorPort`	`tachoPort`

Fields inherited from class lejos.hardware.Device
closeList

Constructor Summary

Constructors
Constructor	Description
`BaseRegulatedMotor(Port port, MotorRegulator regulator, int typ, float moveP, float moveI, float moveD, float holdP, float holdI, float holdD, int offset, int maxSpeed)`	Use this constructor to assign a variable of type motor connected to a particular port.
`BaseRegulatedMotor(TachoMotorPort port, MotorRegulator regulator, int typ, float moveP, float moveI, float moveD, float holdP, float holdI, float holdD, int offset, int maxSpeed)`	Use this constructor to assign a variable of type motor connected to a particular port.

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method	Description
`void`	`addListener(RegulatedMotorListener listener)`	Add a motor listener.
`void`	`backward()`	Causes motor to rotate backwards until `stop()` or `flt()` is called.
`void`	`close()`	Close the motor regulator.
`void`	`endSynchronization()`	Complete a set of synchronized motor operations.
`void`	`flt()`	Set the motor into float mode.
`void`	`flt(boolean immediateReturn)`	Set the motor into float mode.
`void`	`forward()`	Causes motor to rotate forward until `stop()` or `flt()` is called.
`int`	`getAcceleration()`	returns acceleration in degrees/second/second
`int`	`getLimitAngle()`	Return the angle that this Motor is rotating to.
`float`	`getMaxSpeed()`	Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
`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.
`boolean`	`isStalled()`	Return true if the motor is currently stalled.
`void`	`lock(int power)`	Deprecated. The regulator will always try to hold position unless the motor is set into float mode using flt().
`RegulatedMotorListener`	`removeListener()`	Removes the RegulatedMotorListener from this class.
`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`	`setAcceleration(int acceleration)`	sets the acceleration rate of this motor in degrees/sec/sec The default value is 6000; Smaller values will make speeding up.
`void`	`setSpeed(float 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`	`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`	`setStallThreshold(int error, int time)`	Set the parameters for detecting a stalled motor.
`void`	`startSynchronization()`	Begin a set of synchronized motor operations
`void`	`stop()`	Causes motor to stop, pretty much instantaneously.
`void`	`stop(boolean immediateReturn)`	Causes motor to stop, pretty much instantaneously.
`boolean`	`suspendRegulation()`	Removes this motor from the motor regulation system.
`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 class lejos.hardware.Device
releaseOnClose

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

- Field Detail
  - MAX_SPEED_AT_9V
```
protected final int MAX_SPEED_AT_9V
```
  - NO_LIMIT
```
protected static final int NO_LIMIT
```
    See Also:
    
    Constant Field Values
  - reg
```
protected final MotorRegulator reg
```
  - tachoPort
```
protected TachoMotorPort tachoPort
```
  - speed
```
protected float speed
```
  - acceleration
```
protected int acceleration
```
- Constructor Detail
  - BaseRegulatedMotor
```
public BaseRegulatedMotor(TachoMotorPort port,
                          MotorRegulator regulator,
                          int typ,
                          float moveP,
                          float moveI,
                          float moveD,
                          float holdP,
                          float holdI,
                          float holdD,
                          int offset,
                          int maxSpeed)
```
    Use this constructor to assign a variable of type motor connected to a particular port.
    
    Parameters:
    
    port - to which this motor is connected
  - BaseRegulatedMotor
```
public BaseRegulatedMotor(Port port,
                          MotorRegulator regulator,
                          int typ,
                          float moveP,
                          float moveI,
                          float moveD,
                          float holdP,
                          float holdI,
                          float holdD,
                          int offset,
                          int maxSpeed)
```
    Use this constructor to assign a variable of type motor connected to a particular port.
    
    Parameters:
    
    port - to which this motor is connected
- 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.lang.AutoCloseable
    
    Specified by:
    
    close in interface java.io.Closeable
    
    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:
    
    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:
    
    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
  - flt
```
public 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.
    
    Specified by:
    
    flt in interface RegulatedMotor
    
    Parameters:
    
    immediateReturn - If true do not wait for the motor to actually stop
  - 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
  - stop
```
public 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
    
    Specified by:
    
    stop in interface RegulatedMotor
    
    Parameters:
    
    immediateReturn - if true do not wait for the motor to actually stop
  - 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.
  - waitComplete
```
public void waitComplete()
```
    Wait until the current movement operation is complete (this can include the motor stalling).
    
    Specified by:
    
    waitComplete in interface RegulatedMotor
  - 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.
  - 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
  - setSpeed
```
public void setSpeed(float 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.
    
    Parameters:
    
    speed - value in degrees/sec
  - setAcceleration
```
public void setAcceleration(int acceleration)
```
    sets the acceleration rate of this motor in degrees/sec/sec
    The default value is 6000; Smaller values will make speeding up. or stopping at the end of a rotate() task, smoother;
    
    Specified by:
    
    setAcceleration in interface RegulatedMotor
    
    Parameters:
    
    acceleration -
  - getAcceleration
```
public int getAcceleration()
```
    returns acceleration in degrees/second/second
    
    Returns:
    
    the value of acceleration
  - getLimitAngle
```
public int getLimitAngle()
```
    Return the angle that this Motor is rotating to.
    
    Specified by:
    
    getLimitAngle in interface RegulatedMotor
    
    Returns:
    
    angle in degrees
  - 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
  - addListener
```
public void addListener(RegulatedMotorListener listener)
```
    Add a motor listener. Move operations will be reported to this object.
    
    Specified by:
    
    addListener in interface RegulatedMotor
    
    Parameters:
    
    listener -
  - removeListener
```
public RegulatedMotorListener removeListener()
```
    Description copied from interface: RegulatedMotor
    
    Removes the RegulatedMotorListener from this class.
    
    Specified by:
    
    removeListener in interface RegulatedMotor
    
    Returns:
    
    The RegulatedMotorListener that was removed, if any. Null if none existed.
  - 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
    
    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)
```
    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.
  - lock
```
@Deprecated
public void lock(int power)
```
    Deprecated.
    The regulator will always try to hold position unless the motor is set into float mode using flt().
    
    Parameters:
    
    power - - a value between 1 and 100;
  - 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
  - setStallThreshold
```
public void setStallThreshold(int error,
                              int time)
```
    Set the parameters for detecting a stalled motor. A motor will be recognised as stalled if the movement error (the amount the motor lags the regulated position) is greater than error for a period longer than time.
    
    Specified by:
    
    setStallThreshold in interface RegulatedMotor
    
    Parameters:
    
    error - The error threshold
    
    time - The time that the error threshold needs to be exceeded for.
  - getRotationSpeed
```
public int getRotationSpeed()
```
    Return the current velocity.
    
    Specified by:
    
    getRotationSpeed in interface Tachometer
    
    Returns:
    
    current velocity in degrees/s
  - getMaxSpeed
```
public float getMaxSpeed()
```
    Description copied from interface: RegulatedMotor
    
    Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
    
    Specified by:
    
    getMaxSpeed in interface RegulatedMotor
    
    Returns:
    
    the maximum speed of the Motor in degrees per second.
  - synchronizeWith
```
public 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 motor state will also be consistent.
    
    Specified by:
    
    synchronizeWith in interface RegulatedMotor
    
    Parameters:
    
    syncList - an array of motors to synchronize with.
  - startSynchronization
```
public void startSynchronization()
```
    Begin a set of synchronized motor operations
    
    Specified by:
    
    startSynchronization in interface RegulatedMotor
  - endSynchronization
```
public void endSynchronization()
```
    Complete a set of synchronized motor operations.
    
    Specified by:
    
    endSynchronization in interface RegulatedMotor

Class BaseRegulatedMotor

Field Summary

Fields inherited from class lejos.hardware.Device

Constructor Summary

Method Summary

Methods inherited from class lejos.hardware.Device

Methods inherited from class java.lang.Object

Field Detail

MAX_SPEED_AT_9V

NO_LIMIT

reg

tachoPort

speed

acceleration

Constructor Detail

BaseRegulatedMotor

BaseRegulatedMotor

Method Detail

close

suspendRegulation

getTachoCount

getPosition

forward

backward

flt

flt

stop

stop

isMoving

waitComplete

rotateTo

setSpeed

setSpeed

setAcceleration

getAcceleration

getLimitAngle

resetTachoCount

addListener

removeListener

rotate

rotate

rotateTo

getSpeed

lock

isStalled

setStallThreshold

getRotationSpeed

getMaxSpeed

synchronizeWith

startSynchronization

endSynchronization