lejos.hardware.motor

Class MindsensorsGlideWheelMRegulatedMotor

java.lang.Object

lejos.hardware.Device

lejos.hardware.motor.BaseRegulatedMotor

lejos.hardware.motor.MindsensorsGlideWheelMRegulatedMotor

All Implemented Interfaces:

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

public class MindsensorsGlideWheelMRegulatedMotor
extends BaseRegulatedMotor

Abstraction for a Mindsensors Glidewheel-M equipped PF motor.
Note: These settings are for the "M" motor. This motor does not seem to like running slowly, or to use acceleration values less than around 500deg/s/s. Also tested with the "XL" motor which seems to work well other than some oscillation when holding. We may need different settings for the two. TODO: Find some way to make this work with an I term for hold TODO: Can probably be tuned better then this.

Field Summary

Fields inherited from class lejos.hardware.motor.BaseRegulatedMotor

acceleration, MAX_SPEED_AT_9V, NO_LIMIT, reg, speed, tachoPort

Fields inherited from class lejos.hardware.Device

closeList

Constructor Summary

Constructors

Constructor and Description
MindsensorsGlideWheelMRegulatedMotor(Port port) Use this constructor to assign a variable of type motor connected to a particular port.
MindsensorsGlideWheelMRegulatedMotor(TachoMotorPort port) Use this constructor to assign a variable of type motor connected to a particular port.

Method Summary

Methods inherited from class lejos.hardware.motor.BaseRegulatedMotor

addListener, backward, close, endSynchronization, flt, flt, forward, getAcceleration, getLimitAngle, getMaxSpeed, getPosition, getRotationSpeed, getSpeed, getTachoCount, isMoving, isStalled, lock, removeListener, resetTachoCount, rotate, rotate, rotateTo, rotateTo, setAcceleration, setSpeed, setSpeed, setStallThreshold, startSynchronization, stop, stop, suspendRegulation, synchronizeWith, waitComplete

Methods inherited from class lejos.hardware.Device

releaseOnClose

Methods inherited from class java.lang.Object

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

Constructor Detail

MindsensorsGlideWheelMRegulatedMotor

public MindsensorsGlideWheelMRegulatedMotor(TachoMotorPort port)

Use this constructor to assign a variable of type motor connected to a particular port.

Parameters:

port - to which this motor is connected

MindsensorsGlideWheelMRegulatedMotor

public MindsensorsGlideWheelMRegulatedMotor(Port port)

Use this constructor to assign a variable of type motor connected to a particular port.

Parameters:

port - to which this motor is connected