lejos.nxt
Class NXTRegulatedMotor.Regulator

java.lang.Object
  lejos.nxt.NXTRegulatedMotor.Regulator

Enclosing class:

NXTRegulatedMotor

protected class NXTRegulatedMotor.Regulator
extends Object

Inner class to regulate velocity; also stop motor at desired rotation angle. This class uses a very simple movement model based on simple linear acceleration. This model is used to generate ideal target positions which are then used to generate error terms between the actual and target position this error term is then used to drive a PID style motor controller to regulate the power supplied to the motor. If new command are issued while a move is in progress, the new command is blended with the current one to provide smooth movement. If the requested speed is not possible then the controller will simply drop move cycles until the motor catches up with the ideal position. If too many consecutive dropped moves are required then the motor is viewed to have stalled and the move is terminated. Once the motor stops, the final position is held using the same PID control mechanism (with slightly different parameters), as that used for movement.

Field Summary

int

power

Constructor Summary

protected

NXTRegulatedMotor.Regulator()

Method Summary

void	newMove(float speed, int acceleration, int limit, boolean hold, boolean waitComplete) Initiate a new move and optionally wait for it to complete.

Methods inherited from class java.lang.Object

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

Field Detail

power

public int power

Constructor Detail

NXTRegulatedMotor.Regulator

protected NXTRegulatedMotor.Regulator()

Method Detail

newMove

public 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 -