lejos.hardware.device.tetrix

Class TetrixRegulatedMotor

java.lang.Object

lejos.hardware.device.tetrix.TetrixMotor

lejos.hardware.device.tetrix.TetrixEncoderMotor

lejos.hardware.device.tetrix.TetrixRegulatedMotor

All Implemented Interfaces:

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

public class TetrixRegulatedMotor
extends TetrixEncoderMotor
implements RegulatedMotor

Tetrix DC motor abstraction with encoder support that implements RegulatedMotor. The Tetrix motor must have an encoder installed and connected to the controller for the methods in this class to work. If an encoder is not installed, use the TetrixMotor class instead.

Use TetrixMotorController.getRegulatedMotor(int) to retrieve a TetrixRegulatedMotor instance.

Author:

Kirk P. Thompson

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.
float	getMaxSpeed() NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
int	getRotationSpeed() Return the current rotational speed calculated from the encoder position every 100 ms.
int	getSpeed() Return the speed value calculated from the actual power value as:
boolean	isStalled() NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
RegulatedMotorListener	removeListener() Removes the RegulatedMotorListener from this class.
void	rotate(int angle) Rotate by the requested number of degrees while blocking until completion.
void	rotateTo(int limitAngle) Rotate to the target angle while blocking until completion.
void	setAcceleration(int acceleration) NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
void	setRegulate(boolean regulate) OVERRIDDEN TO NOT ALLOW CHANGE OF REGULATED STATE as the TetrixRegulatedMotor class must use regulation.
void	setSpeed(int speed) Sets desired motor speed, in degrees per second.
void	setStallThreshold(int error, int time) NOT IMPLEMENTED as the TEXTRIX 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.tetrix.TetrixEncoderMotor

getLimitAngle, getTachoCount, resetTachoCount, rotate, rotateTo

Methods inherited from class lejos.hardware.device.tetrix.TetrixMotor

backward, flt, forward, getPower, isMoving, setPower, setReverse, 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.RegulatedMotor

getLimitAngle, rotate, rotateTo

Methods inherited from interface lejos.robotics.BaseMotor

backward, flt, forward, isMoving, stop

Methods inherited from interface lejos.robotics.Encoder

getTachoCount, resetTachoCount

Method Detail

setRegulate

public void setRegulate(boolean regulate)

OVERRIDDEN TO NOT ALLOW CHANGE OF REGULATED STATE as the TetrixRegulatedMotor class must use regulation. Motors are always in regulated mode when using the TetrixRegulatedMotor class.

Overrides:

setRegulate in class TetrixEncoderMotor

Parameters:

regulate - Ignored

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.

setSpeed

public void setSpeed(int speed)

Sets desired motor speed, in degrees per second. Since the TETRIX Motor Controller only has power adjustment, the power value is derived from the passed speed value as:

  power = Math.round((speed - 0.5553f) * 0.102247398f);

and as such, the actual speed value will not be exact.

The maximum reliably sustainable velocity for the TETRIX DC Gear motor P/N 739023 (which was used as the test case for creating this class) is 154 RPM => 924 degs/sec.

Specified by:

setSpeed in interface RegulatedMotor

Parameters:

speed - value in degrees/sec

See Also:

getSpeed()

getSpeed

public int getSpeed()

Return the speed value calculated from the actual power value as:

  speed = Math.round(9.7802f * super.getPower() + 0.5553f);

and as such, the actual speed value may not be what was set with setSpeed.

Specified by:

getSpeed in interface RegulatedMotor

Returns:

The speed value (converted from power value) in degrees/sec

See Also:

setSpeed(int)

getMaxSpeed

public float getMaxSpeed()

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

Specified by:

getMaxSpeed in interface RegulatedMotor

Returns:

Always 924 degrees/sec

isStalled

public boolean isStalled()

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

Specified by:

isStalled in interface RegulatedMotor

Returns:

Always false

setStallThreshold

public void setStallThreshold(int error,
                              int time)

NOT IMPLEMENTED as the TEXTRIX 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)

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

Specified by:

setAcceleration in interface RegulatedMotor

Parameters:

acceleration - Ignored

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