lejos.robotics

Interface RegulatedMotorListener

All Known Implementing Classes:

MirrorMotor, OmniPilot, SteeringPilot

public interface RegulatedMotorListener

This interface defines a listener that is notified of the tachometer when the motor starts and stops rotating. It doesn't matter if start/stop rotation is caused by Motor.forward() or Motor.rotateTo(), or if the rotation is terminated by rotationTo() finishing naturally or by stop(). If the motor state changes directly from forward() to backward(), then a stop() is called in between which results in a new rotationEnded() and rotationStarted() notification.

Method Summary

Modifier and Type	Method and Description
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.

Method Detail

rotationStarted

void rotationStarted(RegulatedMotor motor,
                     int tachoCount,
                     boolean stalled,
                     long timeStamp)

Called when the motor starts rotating.

rotationStopped

void rotationStopped(RegulatedMotor motor,
                     int tachoCount,
                     boolean stalled,
                     long timeStamp)

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.