lejos.remote.ev3

Class RMIRemoteRegulatedMotor

java.lang.Object

java.rmi.server.RemoteObject

java.rmi.server.RemoteServer

java.rmi.server.UnicastRemoteObject

lejos.remote.ev3.RMIRemoteRegulatedMotor

All Implemented Interfaces:

java.io.Serializable, java.rmi.Remote, RMIRegulatedMotor

public class RMIRemoteRegulatedMotor
extends java.rmi.server.UnicastRemoteObject
implements RMIRegulatedMotor

See Also:

Serialized Form

Field Summary

Fields inherited from class java.rmi.server.RemoteObject

ref

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	RMIRemoteRegulatedMotor(java.lang.String portName, char motorType)

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	backward()
void	close()
void	flt(boolean immediateReturn) Set the motor into float mode.
void	forward()
int	getLimitAngle() Return the limit angle (if any)
float	getMaxSpeed() Returns the maximim speed of the motor.
int	getSpeed() Returns the current motor speed.
int	getTachoCount()
boolean	isMoving()
boolean	isStalled() returns true if motor is stalled
RegulatedMotorListener	removeListener() Removes the RegulatedMotorListener from this class.
void	resetTachoCount()
void	rotate(int angle) Causes motor to rotate by a specified angle.
void	rotate(int angle, boolean immediateReturn) causes motor to rotate through angle; iff immediateReturn is true, method returns immediately and the motor stops by itself If any motor method is called before the limit is reached, the rotation is canceled.
void	rotateTo(int limitAngle) Causes motor to rotate to limitAngle; Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
void	rotateTo(int limitAngle, boolean immediateReturn) causes motor to rotate to limitAngle; if immediateReturn is true, method returns immediately and the motor stops by itself and getTachoCount should be within +- 2 degrees if the limit angle If any motor method is called before the limit is reached, the rotation is canceled.
void	setAcceleration(int acceleration) Set the required rate of acceleration degrees/s/s
void	setSpeed(int speed) Set motor speed.
void	setStallThreshold(int error, int time) Set the parameters for detecting a stalled motor.
void	stop(boolean immediateReturn) Causes motor to stop, pretty much instantaneously.
void	waitComplete() Wait until the current movement operation is complete (this can include the motor stalling).

Methods inherited from class java.rmi.server.UnicastRemoteObject

clone, exportObject, exportObject, exportObject, unexportObject

Methods inherited from class java.rmi.server.RemoteServer

getClientHost, getLog, setLog

Methods inherited from class java.rmi.server.RemoteObject

equals, getRef, hashCode, toString, toStub

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

RMIRemoteRegulatedMotor

protected RMIRemoteRegulatedMotor(java.lang.String portName,
                                  char motorType)
                           throws java.rmi.RemoteException

Throws:

java.rmi.RemoteException

Method Detail

addListener

public void addListener(RegulatedMotorListener listener)
                 throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

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

Specified by:

addListener in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

removeListener

public RegulatedMotorListener removeListener()
                                      throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Removes the RegulatedMotorListener from this class.

Specified by:

removeListener in interface RMIRegulatedMotor

Returns:

The RegulatedMotorListener that was removed, if any. Null if none existed.

Throws:

java.rmi.RemoteException

stop

public void stop(boolean immediateReturn)
          throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

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 RMIRegulatedMotor

Parameters:

immediateReturn - if true do not wait for the motor to actually stop

Throws:

java.rmi.RemoteException

flt

public void flt(boolean immediateReturn)
         throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

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 RMIRegulatedMotor

Parameters:

immediateReturn - If true do not wait for the motor to actually stop

Throws:

java.rmi.RemoteException

waitComplete

public void waitComplete()
                  throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

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

Specified by:

waitComplete in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

rotate

public void rotate(int angle,
                   boolean immediateReturn)
            throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

causes motor to rotate through angle;
iff immediateReturn is true, method returns immediately and the motor stops by itself
If any motor method is called before the limit is reached, the rotation is canceled. When the angle is reached, the method isMoving() returns false;

Specified by:

rotate in interface RMIRegulatedMotor

Parameters:

angle - through which the motor will rotate

immediateReturn - iff true, method returns immediately, thus allowing monitoring of sensors in the calling thread.

Throws:

java.rmi.RemoteException

See Also:

RegulatedMotor.rotate(int, boolean)

rotate

public void rotate(int angle)
            throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Causes motor to rotate by a specified angle. The resulting tachometer count should be within +- 2 degrees on the NXT. This method does not return until the rotation is completed.

Specified by:

rotate in interface RMIRegulatedMotor

Parameters:

angle - by which the motor will rotate.

Throws:

java.rmi.RemoteException

rotateTo

public void rotateTo(int limitAngle)
              throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Causes motor to rotate to limitAngle;
Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns

Specified by:

rotateTo in interface RMIRegulatedMotor

Parameters:

limitAngle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.

Throws:

java.rmi.RemoteException

rotateTo

public void rotateTo(int limitAngle,
                     boolean immediateReturn)
              throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

causes motor to rotate to limitAngle;
if immediateReturn is true, method returns immediately and the motor stops by itself
and getTachoCount should be within +- 2 degrees if the limit angle If any motor method is called before the limit is reached, the rotation is canceled. When the angle is reached, the method isMoving() returns false;

Specified by:

rotateTo in interface RMIRegulatedMotor

Parameters:

limitAngle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.

immediateReturn - iff true, method returns immediately, thus allowing monitoring of sensors in the calling thread.

Throws:

java.rmi.RemoteException

getLimitAngle

public int getLimitAngle()
                  throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Return the limit angle (if any)

Specified by:

getLimitAngle in interface RMIRegulatedMotor

Returns:

the current limit angle

Throws:

java.rmi.RemoteException

setSpeed

public void setSpeed(int speed)
              throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Set motor speed. As a rule of thumb 100 degrees per second are possible for each volt on an NXT motor. Therefore, disposable alkaline batteries can achieve a top speed of 900 deg/sec, while a rechargable lithium battery pack can achieve 740 deg/sec.

Specified by:

setSpeed in interface RMIRegulatedMotor

Parameters:

speed - in degrees per second.

Throws:

java.rmi.RemoteException

getSpeed

public int getSpeed()
             throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Returns the current motor speed.

Specified by:

getSpeed in interface RMIRegulatedMotor

Returns:

motor speed in degrees per second

Throws:

java.rmi.RemoteException

getMaxSpeed

public float getMaxSpeed()
                  throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Returns the maximim speed of the motor.

Specified by:

getMaxSpeed in interface RMIRegulatedMotor

Returns:

the maximum speed of the Motor in degrees per second.

Throws:

java.rmi.RemoteException

isStalled

public boolean isStalled()
                  throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

returns true if motor is stalled

Specified by:

isStalled in interface RMIRegulatedMotor

Returns:

true if stalled

Throws:

java.rmi.RemoteException

setStallThreshold

public void setStallThreshold(int error,
                              int time)
                       throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Set the parameters for detecting a stalled motor. A motor will be recognized as stalled if the movement error (the amount the motor lags the regulated position) is greater than error for a period longer than time.

Specified by:

setStallThreshold in interface RMIRegulatedMotor

Parameters:

error - The error threshold

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

Throws:

java.rmi.RemoteException

setAcceleration

public void setAcceleration(int acceleration)
                     throws java.rmi.RemoteException

Description copied from interface: RMIRegulatedMotor

Set the required rate of acceleration degrees/s/s

Specified by:

setAcceleration in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

close

public void close()
           throws java.rmi.RemoteException

Specified by:

close in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

forward

public void forward()
             throws java.rmi.RemoteException

Specified by:

forward in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

backward

public void backward()
              throws java.rmi.RemoteException

Specified by:

backward in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

resetTachoCount

public void resetTachoCount()
                     throws java.rmi.RemoteException

Specified by:

resetTachoCount in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

getTachoCount

public int getTachoCount()
                  throws java.rmi.RemoteException

Specified by:

getTachoCount in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException

isMoving

public boolean isMoving()
                 throws java.rmi.RemoteException

Specified by:

isMoving in interface RMIRegulatedMotor

Throws:

java.rmi.RemoteException