lejos.hardware.device

Class MMXRegulatedMotor

java.lang.Object

lejos.hardware.device.MMXMotor

lejos.hardware.device.MMXRegulatedMotor

All Implemented Interfaces:

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

public class MMXRegulatedMotor
extends MMXMotor
implements RegulatedMotor

Abstraction to drive a regulated 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.getRegulatedMotor() factory method to retrieve an instance of this class.

Author:

Kirk P. Thompson

See Also:

NXTMMX

Method Summary

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 angle that this Motor is rotating to or last rotated to.
float	getMaxSpeed() Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
int	getRotationSpeed() Return the current rotational speed calculated from the encoder position every 100 ms.
int	getSpeed() Return the current target speed.
boolean	isStalled() returns true if motor is stalled
RegulatedMotorListener	removeListener() Removes the RegulatedMotorListener from this class.
void	rotate(int angle) Rotate by the requested number of degrees while blocking until completion.
void	rotate(int degrees, boolean immediateReturn) Rotate by the requested number of degrees with option for wait until completion or immediate return where the motor completes its rotation asynchronously.
void	rotateTo(int limitAngle) Rotate to the target angle while blocking until completion.
void	rotateTo(int limitAngle, boolean immediateReturn) Rotate to the target angle with option for wait until completion or immediate return where the motor completes its rotation asynchronously.
void	setAcceleration(int acceleration) Sets speed ramping is enabled/disabled for this motor.
void	setSpeed(int speed) Sets desired motor speed, in degrees per second.
void	setStallThreshold(int error, int time) NOT IMPLEMENTED as the NXTMMX motor controller does not support this command.
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 class lejos.hardware.device.MMXMotor

backward, flt, forward, getPower, getTachoCount, isMoving, resetTachoCount, setPower, setRamping, setRegulate, stop

Methods inherited from class java.lang.Object

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

Methods inherited from interface lejos.robotics.BaseMotor

backward, flt, forward, isMoving, stop

Methods inherited from interface lejos.robotics.Encoder

getTachoCount, resetTachoCount

Method Detail

addListener

public void addListener(RegulatedMotorListener listener)

Description copied from interface: RegulatedMotor

Adds a listener object that will be notified when rotation has started or stopped

Specified by:

addListener in interface RegulatedMotor

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.

getRotationSpeed

public int getRotationSpeed()

Return the current rotational speed calculated from the encoder position every 100 ms. This will likely differ from what was specified in setSpeed.

Specified by:

getRotationSpeed in interface Tachometer

Returns:

The current rotational speed in deg/sec

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

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

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

rotate

public void rotate(int angle)

Rotate by the requested number of degrees while blocking until completion.

Specified by:

rotate in interface RegulatedMotor

Parameters:

angle - number of degrees to rotate relative to the current position.

rotateTo

public void rotateTo(int limitAngle)

Rotate to the target angle while blocking until completion.

Specified by:

rotateTo in interface RegulatedMotor

Parameters:

limitAngle - Angle [in degrees] to rotate to.

rotate

public void rotate(int degrees,
                   boolean immediateReturn)

Rotate by the requested number of degrees with option for wait until completion or immediate return where the motor completes its rotation asynchronously.

Specified by:

rotate in interface RegulatedMotor

Parameters:

degrees - number of degrees to rotate relative to the current position.

immediateReturn - if true, do not wait for the move to complete. false will block until the rotation completes.

See Also:

RegulatedMotor.rotate(int, boolean)

rotateTo

public void rotateTo(int limitAngle,
                     boolean immediateReturn)

Rotate to the target angle with option for wait until completion or immediate return where the motor completes its rotation asynchronously.

Specified by:

rotateTo in interface RegulatedMotor

Parameters:

limitAngle - Angle [in degrees] to rotate to.

immediateReturn - if true, do not wait for the move to complete. false will block until the rotation completes.

setSpeed

public void setSpeed(int speed)

Sets desired motor speed, in degrees per second.

The NXTMMX does not provide speed control per se (just power) so we approximate the power value used based on the requested degress/sec (dps) passed in speed. This means if you request 400 dps, the actual dps value may not reflect that. Setting speed during a rotate method will have no effect on the running rotate but will on the next rotate method call.

experimental data gives: dps=8.1551*power+32.253 (unloaded @ 8.83V)

Note:The NXTMMX doesn't seem to want to drive the standard NXT motor below ~40 dps.

Specified by:

setSpeed in interface RegulatedMotor

Parameters:

speed - Motor speed in degrees per second

See Also:

getSpeed(), MMXMotor.setPower(int)

getSpeed

public int getSpeed()

Return the current target speed.

Specified by:

getSpeed in interface RegulatedMotor

Returns:

Motor speed in degrees per second.

See Also:

setSpeed(int), MMXMotor.getPower()

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.

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

setStallThreshold

public void setStallThreshold(int error,
                              int time)

NOT IMPLEMENTED as the NXTMMX motor controller does not support this command.

Specified by:

setStallThreshold in interface RegulatedMotor

Parameters:

error - The error threshold

time - The time that the error threshold needs to be exceeded for.

setAcceleration

public void setAcceleration(int acceleration)

Sets speed ramping is enabled/disabled for this motor. The RegulatedMotor interface specifies this in degrees/sec/sec but the NXTMMX does not allow the rate to be changed, just if the motor uses smooth acceleration or not so we use the acceleration parameter to specify ramping state.

Default at instantiation is ramping enabled.

Specified by:

setAcceleration in interface RegulatedMotor

Parameters:

acceleration - >0 means NXTMMX internal ramping is enabled otherwise disabled

See Also:

MMXMotor.setRamping(boolean)

getLimitAngle

public int getLimitAngle()

Return the angle that this Motor is rotating to or last rotated to.

Specified by:

getLimitAngle in interface RegulatedMotor

Returns:

angle in degrees. 0 if no rotate method has been intiated.

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.io.Closeable

Specified by:

close in interface java.lang.AutoCloseable

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.

startSynchronization

public void startSynchronization()

Description copied from interface: RegulatedMotor

Begin a set of synchronized motor operations

Specified by:

startSynchronization in interface RegulatedMotor

endSynchronization

public void endSynchronization()

Description copied from interface: RegulatedMotor

Complete a set of synchronized motor operations.

Specified by:

endSynchronization in interface RegulatedMotor