icommand.nxt
Class Motor

java.lang.Object
  icommand.nxt.Motor

All Implemented Interfaces:

NXTProtocol

public class Motor
extends java.lang.Object
implements NXTProtocol

Motor class. Contains three instances of Motor. Usage: Motor.A.forward(5000);

Version:

0.2 4-September-2006

Author:

Brian Bagnall

Field Summary

static Motor	A Motor A.
static Motor	B Motor B.
static Motor	C Motor C.
byte	turnRatio

Fields inherited from interface icommand.nxt.comm.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, 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

Method Summary

int	backward() Causes motor to rotate backward.
int	flt() Stops the motor without using brakes.
int	forward() Causes motor to rotate forward indefinitely.
int	getBlockTacho() Deprecated.
char	getId() Get the ID of the motor.
int	getRotationCount() Deprecated.
int	getSpeed()
int	getTachoCount() Returns the rotation count for the motor.
boolean	isMoving()
boolean	isRotating() CURRENTLY NOT IMPLEMENTED! Use isMoving() for now.
int	resetBlockTacho() Deprecated.
int	resetRotationCounter() Deprecated.
int	resetTachoCount() Resets the rotation counter to zero.
int	rotate(long count) Causes the motor to rotate a certain count.
int	rotate(long count, boolean returnNow) Causes the motor to rotate a certain count.
int	rotateTo(long target) Rotates to a desired tacho count.
int	rotateTo(long target, boolean returnNow) Rotates to a desired tacho count.
void	setRegulationMode(int mode) This method determines if and how the motor will be regulated.
void	setSpeed(int speed) Sets motor speed , in degrees per second; Up to 900 is posssible with 8 volts.
int	stop() Stops the motor using brakes.

Methods inherited from class java.lang.Object

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

Field Detail

turnRatio

public byte turnRatio

A

public static final Motor A

Motor A.

B

public static final Motor B

Motor B.

C

public static final Motor C

Motor C.

Method Detail

getId

public final char getId()

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

forward

public int forward()

Causes motor to rotate forward indefinitely.

Returns:

Error value. 0 means succcess. See icommand.nxtcomm.ErrorMessages for details.

backward

public int backward()

Causes motor to rotate backward.

Returns:

Error value. 0 means succcess. See icommand.nxtcomm.ErrorMessages for details.

setSpeed

public void setSpeed(int speed)

Sets motor speed , in degrees per second; Up to 900 is posssible with 8 volts. NOTE: If using LEGO firmware this will convert the number into power. 900 = 100% power, 450 = 50% power.

Parameters:

speed - value in degrees/sec

getSpeed

public int getSpeed()

getTachoCount

public int getTachoCount()

Returns the rotation count for the motor. NOTE: If you are using leJOS NXJ firmware this will return the same value as getRotationCount() because the leJOS NXJ firmware only uses one Tachometer variable.

Returns:

Tachometer count.

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.

See Also:

Pilot

getBlockTacho

public int getBlockTacho()

Deprecated.

Block Tachometer 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 Tachometer count.

rotate

public int rotate(long count,
                  boolean returnNow)

Causes the motor to rotate a certain count. The motor will also backtrack to the desired count when done. NOTE: This method returns almost immediately if returnNow = true.

Parameters:

count - Number of counts to rotate motor.

returnNow - When true, method returns before the rotation is complete.

Returns:

Error value. 0 means succcess. See icommand.nxtcomm.ErrorMessages for details.

isMoving

public boolean isMoving()

isRotating

public boolean isRotating()

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

rotate

public int rotate(long count)

Causes the motor to rotate a certain count. This method returns after the rotation is completed. NOTE: This method currently doesn't work well with the LEGO firmware.

Parameters:

count - Number of counts to rotate motor.

Returns:

Error value. 0 means succcess. See icommand.nxtcomm.ErrorMessages for details.

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 int rotateTo(long target)

Rotates to a desired tacho count. Does not return until rotation done. Note: The tachocount can not be reset to zero.

Parameters:

target -

rotateTo

public int rotateTo(long target,
                    boolean returnNow)

Rotates to a desired tacho count. Returns before the rotation is done if you include true as the argument.

Parameters:

target -

resetTachoCount

public int resetTachoCount()

Resets the rotation counter to zero.

Returns:

Error value. 0 means succcess. See icommand.nxtcomm.ErrorMessages for details.

resetRotationCounter

public int resetRotationCounter()

Deprecated.

Calls resetTachoCount().

Returns:

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 succcess. See icommand.nxtcomm.ErrorMessages for details.

stop

public int stop()

Stops the motor using brakes.

Returns:

Error value. 0 means succcess. See icommand.nxtcomm.ErrorMessages for details.

flt

public int flt()

Stops the motor without using brakes. UNTESTED

Returns: