lejos.nxt.remote
Class RemoteMotor

java.lang.Object
  lejos.nxt.remote.RemoteMotor

All Implemented Interfaces:

NXTProtocol, DCMotor, Encoder, Tachometer, TachoMotor

public class RemoteMotor
extends java.lang.Object
implements TachoMotor, NXTProtocol

Motor class. Contains three instances of Motor. Usage: Motor.A.forward(500);

Author:

Brian Bagnall

Field Summary

byte

turnRatio

Fields inherited from interface lejos.nxt.remote.NXTProtocol

ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_DEFRAG, NXJ_DISCONNECT, NXJ_FIND_FIRST, NXJ_FIND_NEXT, NXJ_PACKET_MODE, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TRANSITIONCNTMODE, WRITE

Constructor Summary

RemoteMotor(NXTCommand nxtCommand, int id)

Method Summary

void	backward() Causes motor to rotate backwards until stop is called.
void	flt() Motor loses all power, causing the rotor to float freely to a stop.
void	forward() Causes motor to rotate forward until stop is called.
int	getBlockTacho() Deprecated.
char	getId() Get the ID of the motor.
int	getPower() Return the power that the motor is set to
int	getRotationCount() Deprecated.
int	getRotationSpeed() Returns the actual speed.
int	getSpeed() Returns the current motor speed.
int	getTachoCount() Returns the tachometer count.
boolean	isMoving() Return if the motor is moving.
boolean	isRotating() CURRENTLY NOT IMPLEMENTED! Use isMoving() for now.
void	regulateSpeed(boolean yes) Turns speed regulation on/off.
int	resetBlockTacho() Deprecated.
void	resetTachoCount() Reset the tachometer count.
void	rotate(int count) Causes motor to rotate by a specified angle.
void	rotate(int count, boolean returnNow) 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 returnNow) 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	setPower(int power) Sets the power of the motor
void	setRegulationMode(int mode) This method determines if and how the motor will be regulated.
void	setSpeed(int speed) Set motor speed.
void	smoothAcceleration(boolean yes) Enables smoother acceleration.
void	stop() Causes motor to stop immediately.

Methods inherited from class java.lang.Object

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

Field Detail

turnRatio

public byte turnRatio

Constructor Detail

RemoteMotor

public RemoteMotor(NXTCommand nxtCommand,
                   int id)

Method Detail

getId

public final char getId()

Get the ID of the motor. One of 'A', 'B' or 'C'.

forward

public void forward()

Description copied from interface: DCMotor

Causes motor to rotate forward until stop is called.

Specified by:

forward in interface DCMotor

backward

public void backward()

Description copied from interface: DCMotor

Causes motor to rotate backwards until stop is called.

Specified by:

backward in interface DCMotor

setSpeed

public void setSpeed(int speed)

Description copied from interface: TachoMotor

Set motor speed. As a rule of thumb 100 degrees per second are possible for each volt on an NXT motor.

Specified by:

setSpeed in interface TachoMotor

Parameters:

speed - in degrees per second.

setPower

public void setPower(int power)

Sets the power of the motor

Parameters:

power - the power (-100 to +100)

getSpeed

public int getSpeed()

Description copied from interface: TachoMotor

Returns the current motor speed.

Specified by:

getSpeed in interface TachoMotor

Returns:

motor speed in degrees per second

getPower

public int getPower()

Return the power that the motor is set to

Returns:

the power (-100 to +100)

getTachoCount

public int getTachoCount()

Description copied from interface: Encoder

Returns the tachometer count.

Specified by:

getTachoCount in interface Encoder

Returns:

tachometer count in degrees

getRotationCount

public int getRotationCount()

Deprecated.

Returns the rotation count for the motor. The rotation count is something like the trip odometer on your car. This count is reset each time a new function is called in Pilot.

Returns:

rotation count.

getBlockTacho

public int getBlockTacho()

Deprecated.

Block Encoder Count is the count used to synchronize motors with one another. NOTE: If you are using leJOS NXJ firmware this will always return 0 because this variable is not used in in leJOS NXJ firmware. Use getRotationCount() instead.

Returns:

Block Encoder count.

rotate

public void rotate(int count,
                   boolean returnNow)

Description copied from interface: TachoMotor

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 isRotating() returns false;

Specified by:

rotate in interface TachoMotor

Parameters:

count - through which the motor will rotate

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

See Also:

TachoMotor.rotate(int, boolean)

isMoving

public boolean isMoving()

Description copied from interface: DCMotor

Return if the motor is moving.

Specified by:

isMoving in interface DCMotor

Returns:

true if the motor is currently in motion

isRotating

public boolean isRotating()

CURRENTLY NOT IMPLEMENTED! Use isMoving() for now. returns true when motor is rotating toward a specified angle

rotate

public void rotate(int count)

Description copied from interface: TachoMotor

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 TachoMotor

Parameters:

count - by which the motor will rotate.

setRegulationMode

public void setRegulationMode(int mode)

This method determines if and how the motor will be regulated. REGULATION_MODE_IDLE turns off regulation REGULATION_MODE_MOTOR_SPEED regulates the speed (I think) REGULATION_MODE_MOTOR_SYNC synchronizes this and any other motor with SYNC enabled.

Parameters:

mode - See NXTProtocol for enumerations: REGULATION_MODE_MOTOR_SYNC, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_IDLE

rotateTo

public void rotateTo(int limitAngle)

Description copied from interface: TachoMotor

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 TachoMotor

Parameters:

limitAngle - 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 limitAngle,
                     boolean returnNow)

Description copied from interface: TachoMotor

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 isRotating() returns false;

Specified by:

rotateTo in interface TachoMotor

Parameters:

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

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

resetTachoCount

public void resetTachoCount()

Description copied from interface: Encoder

Reset the tachometer count.

Specified by:

resetTachoCount in interface Encoder

resetBlockTacho

public int resetBlockTacho()

Deprecated.

Resets the block tachometer. NOTE: If you are using leJOS NXJ firmware this will not do anything because BlockTacho is not used in the leJOS NXJ firmware. Use resetRotationCounter() instead.

Returns:

Error value. 0 means success. See lejos.pc.comm.ErrorMessages for details.

stop

public void stop()

Description copied from interface: DCMotor

Causes motor to stop immediately. It will resist any further motion. Cancels any rotate() orders in progress.

Specified by:

stop in interface DCMotor

flt

public void flt()

Description copied from interface: DCMotor

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 DCMotor

regulateSpeed

public void regulateSpeed(boolean yes)

Description copied from interface: TachoMotor

Turns speed regulation on/off. Cumulative speed error is within about 1 degree after initial acceleration on the NXT.

Specified by:

regulateSpeed in interface TachoMotor

Parameters:

yes - is true for speed regulation.

smoothAcceleration

public void smoothAcceleration(boolean yes)

Description copied from interface: TachoMotor

Enables smoother acceleration. Motor speed increases gently, and does not overshoot when regulate Speed is used.

Specified by:

smoothAcceleration in interface TachoMotor

Parameters:

yes - is true for smooth acceleration.

getRotationSpeed

public int getRotationSpeed()

Description copied from interface: Tachometer

Returns the actual speed. This value is calculated every 100 ms on the NXT. TODO: getRotationSpeed() is an alternate method name, but then we are again competing with Motor.getSpeed()

Specified by:

getRotationSpeed in interface Tachometer

Returns:

speed in degrees per second, negative value means motor is rotating backward