MirrorMotor (leJOS EV3 API documentation)

java.lang.Object
- lejos.robotics.MirrorMotor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, BaseMotor, Encoder, RegulatedMotor, RegulatedMotorListener, Tachometer
```
public class MirrorMotor
extends java.lang.Object
implements RegulatedMotor, RegulatedMotorListener
```
This class returns a motor that rotates in the reverse direction of a regular motor. All tachometer readings are also reversed.

Use the factory method MirrorMotor.invertMotor(RegulatedMotor) to retrieve an inverted motor.

Author:

BB

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
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()` Causes motor to rotate backwards until `stop()` or `flt()` is called.
`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()` Motor loses all power, causing the rotor to float freely to a stop.
`void`	`flt(boolean immediateReturn)` Set the motor into float mode.
`void`	`forward()` Causes motor to rotate forward until `stop()` or `flt()` is called.
`int`	`getLimitAngle()` Return the limit angle (if any)
`float`	`getMaxSpeed()` Returns the maximum speed that can be maintained by the regulation system based upon the current state of the battery.
`int`	`getRotationSpeed()` Returns the actual speed.
`int`	`getSpeed()` Returns the current motor speed.
`int`	`getTachoCount()` Returns the tachometer count.
`static EncoderMotor`	`invertMotor(EncoderMotor motor)` Returns an inverted EncoderMotor.
`static RegulatedMotor`	`invertMotor(RegulatedMotor motor)` Returns an inverted RegulatedMotor.
`boolean`	`isMoving()` Return `true` if the motor is moving.
`boolean`	`isStalled()` returns true if motor is stalled
`RegulatedMotorListener`	`removeListener()` Removes the RegulatedMotorListener from this class.
`void`	`resetTachoCount()` Reset the tachometer count.
`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 angle)` Causes motor to rotate to limitAngle; Then getTachoCount should be within +- 2 degrees of the limit angle when the method returns
`void`	`rotateTo(int angle, 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`	`rotationStarted(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)` Called when the motor starts rotating.
`void`	`rotationStopped(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)` Called when the motor stops rotating.
`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`	`startSynchronization()` Begin a set of synchronized motor operations
`void`	`stop()` Causes motor to stop immediately.
`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 java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Method Detail
  - invertMotor
```
public static RegulatedMotor invertMotor(RegulatedMotor motor)
```
    Returns an inverted RegulatedMotor.
    
    Parameters:
    
    motor - A RegulatedMotor, such as Motor.A.
    
    Returns:
    
    An inverted RegulatedMotor.
  - invertMotor
```
public static EncoderMotor invertMotor(EncoderMotor motor)
```
    Returns an inverted EncoderMotor.
    
    Parameters:
    
    motor - An EncoderMotor, such as NXTMotor.
    
    Returns:
    
    An inverted EncoderMotor.
  - 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.
  - 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
  - getLimitAngle
```
public int getLimitAngle()
```
    Description copied from interface: RegulatedMotor
    
    Return the limit angle (if any)
    
    Specified by:
    
    getLimitAngle in interface RegulatedMotor
    
    Returns:
    
    the current limit angle
  - 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.
  - getSpeed
```
public int getSpeed()
```
    Description copied from interface: RegulatedMotor
    
    Returns the current motor speed.
    
    Specified by:
    
    getSpeed in interface RegulatedMotor
    
    Returns:
    
    motor speed 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
  - rotate
```
public void rotate(int angle)
```
    Description copied from interface: RegulatedMotor
    
    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 RegulatedMotor
    
    Parameters:
    
    angle - by which the motor will rotate.
  - rotate
```
public void rotate(int angle,
                   boolean immediateReturn)
```
    Description copied from interface: RegulatedMotor
    
    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 RegulatedMotor
    
    Parameters:
    
    angle - through which the motor will rotate
    
    immediateReturn - iff true, method returns immediately, thus allowing monitoring of sensors in the calling thread.
    
    See Also:
    
    RegulatedMotor.rotate(int, boolean)
  - rotateTo
```
public void rotateTo(int angle)
```
    Description copied from interface: RegulatedMotor
    
    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 RegulatedMotor
    
    Parameters:
    
    angle - to which the motor will rotate, and then stop (in degrees). Includes any positive or negative int, even values > 360.
  - rotateTo
```
public void rotateTo(int angle,
                     boolean immediateReturn)
```
    Description copied from interface: RegulatedMotor
    
    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 RegulatedMotor
    
    Parameters:
    
    angle - 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.
  - setAcceleration
```
public void setAcceleration(int acceleration)
```
    Description copied from interface: RegulatedMotor
    
    Set the required rate of acceleration degrees/s/s
    
    Specified by:
    
    setAcceleration in interface RegulatedMotor
  - setSpeed
```
public void setSpeed(int speed)
```
    Description copied from interface: RegulatedMotor
    
    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 RegulatedMotor
    
    Parameters:
    
    speed - in degrees per second.
  - setStallThreshold
```
public void setStallThreshold(int error,
                              int time)
```
    Description copied from interface: RegulatedMotor
    
    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 RegulatedMotor
    
    Parameters:
    
    error - The error threshold
    
    time - The time that the error threshold needs to be exceeded for.
  - 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
  - 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
  - backward
```
public void backward()
```
    Description copied from interface: BaseMotor
    
    Causes motor to rotate backwards until stop() or flt() is called.
    
    Specified by:
    
    backward in interface BaseMotor
  - flt
```
public void flt()
```
    Description copied from interface: BaseMotor
    
    Motor loses all power, causing the rotor to float freely to a stop. This is not the same as stopping, which locks the rotor.
    
    Specified by:
    
    flt in interface BaseMotor
  - forward
```
public void forward()
```
    Description copied from interface: BaseMotor
    
    Causes motor to rotate forward until stop() or flt() is called.
    
    Specified by:
    
    forward in interface BaseMotor
  - isMoving
```
public boolean isMoving()
```
    Description copied from interface: BaseMotor
    
    Return true if the motor is moving.
    
    Specified by:
    
    isMoving in interface BaseMotor
    
    Returns:
    
    true if the motor is currently in motion, false if stopped.
  - stop
```
public void stop()
```
    Description copied from interface: BaseMotor
    
    Causes motor to stop immediately. It will resist any further motion. Cancels any rotate() orders in progress.
    
    Specified by:
    
    stop in interface BaseMotor
  - getRotationSpeed
```
public int getRotationSpeed()
```
    Description copied from interface: Tachometer
    
    Returns the actual speed.
    
    Specified by:
    
    getRotationSpeed in interface Tachometer
    
    Returns:
    
    speed in degrees per second, negative value means motor is rotating backward
  - getTachoCount
```
public int getTachoCount()
```
    Description copied from interface: Encoder
    
    Returns the tachometer count.
    
    Specified by:
    
    getTachoCount in interface Encoder
    
    Returns:
    
    tachometer count in degrees
  - resetTachoCount
```
public void resetTachoCount()
```
    Description copied from interface: Encoder
    
    Reset the tachometer count.
    
    Specified by:
    
    resetTachoCount in interface Encoder
  - rotationStarted
```
public void rotationStarted(RegulatedMotor motor,
                            int tachoCount,
                            boolean stalled,
                            long timeStamp)
```
    Description copied from interface: RegulatedMotorListener
    
    Called when the motor starts rotating.
    
    Specified by:
    
    rotationStarted in interface RegulatedMotorListener
  - rotationStopped
```
public void rotationStopped(RegulatedMotor motor,
                            int tachoCount,
                            boolean stalled,
                            long timeStamp)
```
    Description copied from interface: RegulatedMotorListener
    
    Called when the motor stops rotating. This includes both Motor.stop() which locks the shaft, and Motor.flt() in which the shaft floats freely after power is cut to the motor. Beware: In the second case, it's possible the tachomoter reading will continue changing after notification.
    
    Specified by:
    
    rotationStopped in interface RegulatedMotorListener
  - 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

Class MirrorMotor

Method Summary

Methods inherited from class java.lang.Object

Method Detail

invertMotor

invertMotor

addListener

removeListener

flt

getLimitAngle

getMaxSpeed

getSpeed

isStalled

rotate

rotate

rotateTo

rotateTo

setAcceleration

setSpeed

setStallThreshold

stop

waitComplete

backward

flt

forward

isMoving

stop

getRotationSpeed

getTachoCount

resetTachoCount

rotationStarted

rotationStopped

close

synchronizeWith

startSynchronization

endSynchronization