RegulatedMotor (leJOS EV3 API documentation)

All Superinterfaces:

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

All Known Implementing Classes:

BaseRegulatedMotor, EV3LargeRegulatedMotor, EV3MediumRegulatedMotor, MindsensorsGlideWheelMRegulatedMotor, MindsensorsGlideWheelXLRegulatedMotor, MirrorMotor, MMXRegulatedMotor, NXTRegulatedMotor, RemoteRequestRegulatedMotor, TetrixRegulatedMotor
```
public interface RegulatedMotor
extends BaseMotor, Tachometer, java.io.Closeable
```
Interface for encoded motors without limited range of movement (e.g. NXT motor). TODO: Alternate names: EncodedMotor,EncoderMotor.

Author:

dsturze

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`void`	`addListener(RegulatedMotorListener listener)` Adds a listener object that will be notified when rotation has started or stopped
`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(boolean immediateReturn)` Set the motor into float mode.
`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`	`getSpeed()` Returns the current motor speed.
`boolean`	`isStalled()` returns true if motor is stalled
`RegulatedMotorListener`	`removeListener()` Removes the RegulatedMotorListener from this class.
`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 limitAngle)` Causes motor 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 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)` 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(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 interface lejos.robotics.BaseMotor
backward, flt, forward, isMoving, stop

Methods inherited from interface lejos.robotics.Tachometer
getRotationSpeed

Methods inherited from interface lejos.robotics.Encoder
getTachoCount, resetTachoCount

- Method Detail
  - addListener
```
void addListener(RegulatedMotorListener listener)
```
    Adds a listener object that will be notified when rotation has started or stopped
    
    Parameters:
    
    listener -
  - removeListener
```
RegulatedMotorListener removeListener()
```
    Removes the RegulatedMotorListener from this class.
    
    Returns:
    
    The RegulatedMotorListener that was removed, if any. Null if none existed.
  - stop
```
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
    
    Parameters:
    
    immediateReturn - if true do not wait for the motor to actually stop
  - flt
```
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.
    
    Parameters:
    
    immediateReturn - If true do not wait for the motor to actually stop
  - waitComplete
```
void waitComplete()
```
    Wait until the current movement operation is complete (this can include the motor stalling).
  - rotate
```
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. When the angle is reached, the method isMoving() returns false;
    
    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:
    
    rotate(int, boolean)
  - rotate
```
void rotate(int angle)
```
    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.
    
    Parameters:
    
    angle - by which the motor will rotate.
  - rotateTo
```
void rotateTo(int limitAngle)
```
    Causes motor to rotate to limitAngle;
    Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
    
    Parameters:
    
    limitAngle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.
  - rotateTo
```
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. When the angle is reached, the method isMoving() returns false;
    
    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.
  - getLimitAngle
```
int getLimitAngle()
```
    Return the limit angle (if any)
    
    Returns:
    
    the current limit angle
  - setSpeed
```
void setSpeed(int speed)
```
    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.
    
    Parameters:
    
    speed - in degrees per second.
  - getSpeed
```
int getSpeed()
```
    Returns the current motor speed.
    
    Returns:
    
    motor speed in degrees per second
  - getMaxSpeed
```
float getMaxSpeed()
```
    Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
    
    Returns:
    
    the maximum speed of the Motor in degrees per second.
  - isStalled
```
boolean isStalled()
```
    returns true if motor is stalled
    
    Returns:
    
    true if stalled
  - setStallThreshold
```
void setStallThreshold(int error,
                       int time)
```
    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.
    
    Parameters:
    
    error - The error threshold
    
    time - The time that the error threshold needs to be exceeded for.
  - setAcceleration
```
void setAcceleration(int acceleration)
```
    Set the required rate of acceleration degrees/s/s
    
    Parameters:
    
    acceleration -
  - synchronizeWith
```
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.
    
    Parameters:
    
    syncList - an array of motors to synchronize with.
  - startSynchronization
```
void startSynchronization()
```
    Begin a set of synchronized motor operations
  - endSynchronization
```
void endSynchronization()
```
    Complete a set of synchronized motor operations.
  - close
```
void close()
```
    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

Interface RegulatedMotor

Method Summary

Methods inherited from interface lejos.robotics.BaseMotor

Methods inherited from interface lejos.robotics.Tachometer

Methods inherited from interface lejos.robotics.Encoder

Method Detail

addListener

removeListener

stop

flt

waitComplete

rotate

rotate

rotateTo

rotateTo

getLimitAngle

setSpeed

getSpeed

getMaxSpeed

isStalled

setStallThreshold

setAcceleration

synchronizeWith

startSynchronization

endSynchronization

close