lejos.hardware.device

Class MMXMotor

java.lang.Object

lejos.hardware.device.MMXMotor

All Implemented Interfaces:

BaseMotor, DCMotor, Encoder, EncoderMotor

Direct Known Subclasses:

MMXRegulatedMotor

public class MMXMotor
extends java.lang.Object
implements EncoderMotor

Abstraction to drive a basic encoder motor with the NXTMMX motor multiplexer. The NXTMMX motor multiplexer device allows you to connect two additional motors to your robot using a sensor port. Multiple NXTMMXs can be chained together.

Use the NXTMMX.getBasicMotor() factory method to retrieve an instance of this class.

Author:

Kirk P. Thompson

See Also:

NXTMMX, MMXRegulatedMotor

Method Summary

Modifier and Type	Method and Description
void	backward() Causes motor to rotate backwards until stop() or flt() is called.
void	flt() Motor loses all power, causing the rotor to float freely to a stop.
void	forward() Causes motor to rotate forward until stop() or flt() is called.
int	getPower() Returns the current motor power setting.
int	getTachoCount() Returns the tachometer count.
boolean	isMoving() Return true if the motor is moving.
void	resetTachoCount() Reset the the tachometer count.
void	setPower(int power) Set the power level 0%-100% to be applied to the motor
void	setRamping(boolean doRamping) Sets speed ramping is enabled/disabled for this motor.
void	setRegulate(boolean regulate) Disable or Enable internal motor controller speed regulation.
void	stop() Causes motor to stop immediately.

Methods inherited from class java.lang.Object

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

Method Detail

setPower

public void setPower(int power)

Description copied from interface: DCMotor

Set the power level 0%-100% to be applied to the motor

Specified by:

setPower in interface DCMotor

Parameters:

power - new motor power 0-100

setRamping

public void setRamping(boolean doRamping)

Sets speed ramping is enabled/disabled for this motor. Default at instantiation is ramping enabled.

Parameters:

doRamping - true to enable, false to disable

getPower

public int getPower()

Description copied from interface: DCMotor

Returns the current motor power setting.

Specified by:

getPower in interface DCMotor

Returns:

current power 0-100

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

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

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

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

isMoving

public boolean isMoving()

Return true if the motor is moving. Note that this method reports based on the current control state (i.e. commanded to move) and not if the motor is actually moving. This means a motor may be stalled but this method would return true.

Specified by:

isMoving in interface BaseMotor

Returns:

true if the motor is executing a movement command, false if stopped.

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. TODO verify => Calling this method will stop any current motor action. This is imposed by the HiTechic Motor Controller firmware.

Specified by:

resetTachoCount in interface Encoder

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, true otherwise.