lejos.hardware.motor

Interface MotorRegulator

All Known Implementing Classes:

JavaMotorRegulator

public interface MotorRegulator

Interface for motor regulation regulate velocity; also stop motor at desired rotation angle.

Field Summary

Fields

Modifier and Type	Field and Description
static int	NO_LIMIT

Method Summary

Modifier and Type	Method and Description
void	addListener(RegulatedMotor motor, RegulatedMotorListener listener) Add a motor listener.
void	adjustAcceleration(int newAcc) The target acceleration has been changed.
void	adjustSpeed(float newSpeed) The target speed has been changed.
void	endSynchronization(boolean b) Complete a set of synchronized motor operations.
float	getCurrentVelocity() Return the current velocity (in degrees/second) that the motor is currently running at.
int	getLimitAngle() Return the angle that this Motor is rotating to.
float	getPosition() return the regulations models current position.
int	getTachoCount() Get the current hardware tachometer reading for the motor,
boolean	isMoving() Return true if the motor is currently active
boolean	isStalled() Return true if the motor is currently stalled.
void	newMove(float speed, int acceleration, int limit, boolean hold, boolean waitComplete) Initiate a new move and optionally wait for it to complete.
RegulatedMotorListener	removeListener()
void	resetTachoCount() Reset the tachometer base value, after this call the tachometer will return zero for the current position.
void	setControlParamaters(int typ, float moveP, float moveI, float moveD, float holdP, float holdI, float holdD, int offset) Set the motion control parameters used by the regulator.
void	setStallThreshold(int error, int time) Set the stall detection parameters.
void	startSynchronization() Begin a set of synchronized motor operations
void	synchronizeWith(MotorRegulator[] rl) 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).

Field Detail

NO_LIMIT

static final int NO_LIMIT

See Also:

Constant Field Values

Method Detail

setControlParamaters

void setControlParamaters(int typ,
                          float moveP,
                          float moveI,
                          float moveD,
                          float holdP,
                          float holdI,
                          float holdD,
                          int offset)

Set the motion control parameters used by the regulator.

Parameters:

typ - The type of motor

moveP - The Proportional control value used while moving

moveI - The integral control parameter used while moving

moveD - The differential control parameter used while moving

holdP - The Proportional control value used while holding position

holdI - The integral control value used while holding position

holdD - The differential control value used while holding position

offset - Motor PWM offset value range 0-10000.

getTachoCount

int getTachoCount()

Get the current hardware tachometer reading for the motor,

Returns:

hardware reading

resetTachoCount

void resetTachoCount()

Reset the tachometer base value, after this call the tachometer will return zero for the current position. Note that any in progress movements will be aborted.

isMoving

boolean isMoving()

Return true if the motor is currently active

Returns:

True if the motor is moving.

getCurrentVelocity

float getCurrentVelocity()

Return the current velocity (in degrees/second) that the motor is currently running at. Note that this value may be supplied from the internal control model not from actually measuring the rotation speed. If the regulator is functioning correctly this will closely match the actual velocity

Returns:

velocity

setStallThreshold

void setStallThreshold(int error,
                       int time)

Set the stall detection parameters. The motor will be declared as stalled if the error in the motor position exceeds the specified value for longer than the given time.

Parameters:

error -

time -

getPosition

float getPosition()

return the regulations models current position.

Returns:

the models current position

newMove

void newMove(float speed,
             int acceleration,
             int limit,
             boolean hold,
             boolean waitComplete)

Initiate a new move and optionally wait for it to complete. If some other move is currently executing then ensure that this move is terminated correctly and then start the new move operation.

Parameters:

speed -

acceleration -

limit -

hold -

waitComplete -

adjustSpeed

void adjustSpeed(float newSpeed)

The target speed has been changed. Reflect this change in the regulator.

Parameters:

newSpeed - new target speed.

adjustAcceleration

void adjustAcceleration(int newAcc)

The target acceleration has been changed. Updated the regulator.

Parameters:

newAcc -

waitComplete

void waitComplete()

Wait until the current movement operation is complete (this can include the motor stalling).

addListener

void addListener(RegulatedMotor motor,
                 RegulatedMotorListener listener)

Add a motor listener. Move operations will be reported to this object.

Parameters:

motor -

listener -

removeListener

RegulatedMotorListener removeListener()

getLimitAngle

int getLimitAngle()

Return the angle that this Motor is rotating to.

Returns:

angle in degrees

isStalled

boolean isStalled()

Return true if the motor is currently stalled.

Returns:

true if the motor is stalled, else false

startSynchronization

void startSynchronization()

Begin a set of synchronized motor operations

endSynchronization

void endSynchronization(boolean b)

Complete a set of synchronized motor operations.

synchronizeWith

void synchronizeWith(MotorRegulator[] rl)

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:

rl - an array of motors to synchronize with.