Package lejos.robotics

Class MirrorMotor

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void addListener​(RegulatedMotorListener listener)
      Adds a listener object that will be notified when rotation has started or stopped
      void backward()
      Causes motor to rotate backwards until stop() or flt() is called.
      void close()
      Close the port, the port can not be used after this call.
      void endSynchronization()
      Complete a set of synchronized motor operations.
      void flt()
      Motor loses all power, causing the rotor to float freely to a stop.
      void flt​(boolean immediateReturn)
      Set the motor into float mode.
      void forward()
      Causes motor to rotate forward until stop() or flt() is called.
      int getLimitAngle()
      Return the limit angle (if any)
      float getMaxSpeed()
      Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
      int getRotationSpeed()
      Returns the actual speed.
      int getSpeed()
      Returns the current motor speed.
      int getTachoCount()
      Returns the tachometer count.
      static EncoderMotor invertMotor​(EncoderMotor motor)
      Returns an inverted EncoderMotor.
      static RegulatedMotor invertMotor​(RegulatedMotor motor)
      Returns an inverted RegulatedMotor.
      boolean isMoving()
      Return true if the motor is moving.
      boolean isStalled()
      returns true if motor is stalled
      RegulatedMotorListener removeListener()
      Removes the RegulatedMotorListener from this class.
      void resetTachoCount()
      Reset the tachometer count.
      void rotate​(int angle)
      Causes motor to rotate by a specified angle.
      void rotate​(int angle, boolean immediateReturn)
      causes motor to rotate through angle;
      iff immediateReturn is true, method returns immediately and the motor stops by itself
      If any motor method is called before the limit is reached, the rotation is canceled.
      void rotateTo​(int angle)
      Causes motor to rotate to limitAngle;
      Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
      void rotateTo​(int angle, 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 rotationStarted​(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)
      Called when the motor starts rotating.
      void rotationStopped​(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)
      Called when the motor stops rotating.
      void setAcceleration​(int acceleration)
      Set the required rate of acceleration degrees/s/s
      void setSpeed​(int speed)
      Set motor speed.
      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 immediately.
      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 class java.lang.Object

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

    • Method Detail

      • invertMotor

        public static RegulatedMotor invertMotor​(RegulatedMotor motor)
        Returns an inverted RegulatedMotor.
        Parameters:
        motor - A RegulatedMotor, such as Motor.A.
        Returns:
        An inverted RegulatedMotor.

      • invertMotor

        public static EncoderMotor invertMotor​(EncoderMotor motor)
        Returns an inverted EncoderMotor.
        Parameters:
        motor - An EncoderMotor, such as NXTMotor.
        Returns:
        An inverted EncoderMotor.

      • flt

        public void flt​(boolean immediateReturn)
        Description copied from interface: RegulatedMotor
        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

      • getLimitAngle

        public int getLimitAngle()
        Description copied from interface: RegulatedMotor
        Return the limit angle (if any)
        Specified by:
        getLimitAngle in interface RegulatedMotor
        Returns:
        the current limit angle

      • 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.

      • getSpeed

        public int getSpeed()
        Description copied from interface: RegulatedMotor
        Returns the current motor speed.
        Specified by:
        getSpeed in interface RegulatedMotor
        Returns:
        motor speed in degrees per second

      • isStalled

        public boolean isStalled()
        Description copied from interface: RegulatedMotor
        returns true if motor is stalled
        Specified by:
        isStalled in interface RegulatedMotor
        Returns:
        true if stalled

      • rotate

        public void rotate​(int angle)
        Description copied from interface: RegulatedMotor
        Causes motor 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.
        Specified by:
        rotate in interface RegulatedMotor
        Parameters:
        angle - by which the motor will rotate.

      • rotate

        public void rotate​(int angle,
                   boolean immediateReturn)
        Description copied from interface: RegulatedMotor
        causes motor to rotate through angle;
        iff immediateReturn is true, method returns immediately and the motor stops by itself
        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:
        rotate in interface RegulatedMotor
        Parameters:
        angle - through which the motor will rotate
        immediateReturn - iff true, method returns immediately, thus allowing monitoring of sensors in the calling thread.
        See Also:
        RegulatedMotor.rotate(int, boolean)

      • rotateTo

        public void rotateTo​(int angle)
        Description copied from interface: RegulatedMotor
        Causes motor to rotate to limitAngle;
        Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
        Specified by:
        rotateTo in interface RegulatedMotor
        Parameters:
        angle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.

      • rotateTo

        public void rotateTo​(int angle,
                     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:
        angle - 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.

      • setAcceleration

        public void setAcceleration​(int acceleration)
        Description copied from interface: RegulatedMotor
        Set the required rate of acceleration degrees/s/s
        Specified by:
        setAcceleration in interface RegulatedMotor

      • setSpeed

        public void setSpeed​(int speed)
        Description copied from interface: RegulatedMotor
        Set motor speed. As a rule of thumb 100 degrees per second are possible for each volt on an NXT motor. Therefore, disposable alkaline batteries can achieve a top speed of 900 deg/sec, while a rechargable lithium battery pack can achieve 740 deg/sec.
        Specified by:
        setSpeed in interface RegulatedMotor
        Parameters:
        speed - in degrees per second.

      • setStallThreshold

        public void setStallThreshold​(int error,
                              int time)
        Description copied from interface: RegulatedMotor
        Set the parameters for detecting a stalled motor. A motor will be recognized 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.

      • stop

        public void stop​(boolean immediateReturn)
        Description copied from interface: RegulatedMotor
        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

      • waitComplete

        public void waitComplete()
        Description copied from interface: RegulatedMotor
        Wait until the current movement operation is complete (this can include the motor stalling).
        Specified by:
        waitComplete in interface RegulatedMotor

      • 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

      • flt

        public void flt()
        Description copied from interface: BaseMotor
        Motor loses all power, causing the rotor to float freely to a stop. This is not the same as stopping, which locks the rotor.
        Specified by:
        flt in interface BaseMotor

      • 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

      • isMoving

        public boolean isMoving()
        Description copied from interface: BaseMotor
        Return true if the motor is moving.
        Specified by:
        isMoving in interface BaseMotor
        Returns:
        true if the motor is currently in motion, false if stopped.

      • stop

        public void stop()
        Description copied from interface: BaseMotor
        Causes motor to stop immediately. It will resist any further motion. Cancels any rotate() orders in progress.
        Specified by:
        stop in interface BaseMotor

      • getRotationSpeed

        public int getRotationSpeed()
        Description copied from interface: Tachometer
        Returns the actual speed.
        Specified by:
        getRotationSpeed in interface Tachometer
        Returns:
        speed in degrees per second, negative value means motor is rotating backward

      • 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()
        Description copied from interface: Encoder
        Reset the tachometer count.
        Specified by:
        resetTachoCount in interface Encoder

      • rotationStopped

        public void rotationStopped​(RegulatedMotor motor,
                            int tachoCount,
                            boolean stalled,
                            long timeStamp)
        Description copied from interface: RegulatedMotorListener
        Called when the motor stops rotating. This includes both Motor.stop() which locks the shaft, and Motor.flt() in which the shaft floats freely after power is cut to the motor. Beware: In the second case, it's possible the tachomoter reading will continue changing after notification.
        Specified by:
        rotationStopped in interface RegulatedMotorListener

      • close

        public void close()
        Description copied from interface: RegulatedMotor
        Close the port, the port can not be used after this call.
        Specified by:
        close in interface java.lang.AutoCloseable
        Specified by:
        close in interface java.io.Closeable
        Specified by:
        close in interface RegulatedMotor

      • synchronizeWith

        public void synchronizeWith​(RegulatedMotor[] syncList)
        Description copied from interface: RegulatedMotor
        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.