lejos.hardware.device.tetrix.TetrixRegulatedMotor Maven / Gradle / Ivy
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package lejos.hardware.device.tetrix;
import lejos.robotics.RegulatedMotor;
import lejos.robotics.RegulatedMotorListener;
/**
* Tetrix DC motor abstraction with encoder support that implements RegulatedMotor. The Tetrix motor must have an
* encoder installed and connected to
* the controller for the methods in this class to work. If an encoder is not installed, use the {@link TetrixMotor}
* class instead.
* Use {@link TetrixMotorController#getRegulatedMotor} to retrieve a TetrixRegulatedMotor instance.
*
* @author Kirk P. Thompson
*/
public class TetrixRegulatedMotor extends TetrixEncoderMotor implements RegulatedMotor{
static final int LISTENERSTATE_STOP = 0;
static final int LISTENERSTATE_START = 1;
RegulatedMotorListener listener;
TetrixRegulatedMotor(TetrixMotorController mc, int channel) {
super(mc, channel);
super.setRegulate(true);
}
/**
* OVERRIDDEN TO NOT ALLOW CHANGE OF REGULATED STATE as the TetrixRegulatedMotor class must use regulation.
* Motors are always in
* regulated mode when using the TetrixRegulatedMotor class.
*
* @param regulate Ignored
*/
@Override
public void setRegulate(boolean regulate){
// ignore and don't allow change of regulation
}
@SuppressWarnings("hiding")
public void addListener(RegulatedMotorListener listener) {
this.listener = listener;
}
void doListenerState(int listenerState) {
if (this.listener == null) return;
if (listenerState == LISTENERSTATE_STOP) {
// wait for a complete stop before notifying
new Thread(new Runnable(){
public void run() {
waitComplete();
listener.rotationStopped(TetrixRegulatedMotor.this, getTachoCount(), false, System.currentTimeMillis());
}}).start();
} else {
this.listener.rotationStarted(this, getTachoCount(), false, System.currentTimeMillis());
}
}
public RegulatedMotorListener removeListener() {
RegulatedMotorListener old = this.listener;
this.listener = null;
return old;
}
/**
* Return the current rotational speed calculated from the encoder position every 100 ms. This will
* likely differ from what was specified in setSpeed.
*
* @return The current rotational speed in deg/sec
*/
public int getRotationSpeed() {
return Math.round(.01f * mc.doCommand(TetrixMotorController.CMD_GETSPEED, 0, channel));
}
public void stop(boolean immediateReturn) {
super.stop();
if (!immediateReturn) waitComplete();
}
public void flt(boolean immediateReturn) {
super.flt();
if (!immediateReturn) waitComplete();
}
public void waitComplete() {
super.waitRotateComplete();
}
/**
* Rotate by the requested number of degrees while blocking until completion.
*
* @param angle number of degrees to rotate relative to the current position.
*/
public void rotate(int angle) {
rotate(angle, false);
}
/**
* Rotate to the target angle while blocking until completion.
*
* @param limitAngle Angle [in degrees] to rotate to.
*/
public void rotateTo(int limitAngle) {
rotateTo(limitAngle, false);
}
/**
* Sets desired motor speed, in degrees per second. Since the TETRIX Motor Controller only has power adjustment,
* the power value is derived from the passed speed value as:
*
*
power = Math.round((speed - 0.5553f) * 0.102247398f);
* and as such, the actual speed value will not be exact.
*
* The maximum reliably sustainable velocity for the TETRIX DC Gear motor P/N 739023 (which was used as the
* test case for creating this class) is 154 RPM => 924 degs/sec.
*
* @param speed value in degrees/sec
* @see #getSpeed
*/
public void setSpeed(int speed) {
// experimental data gives: speed = 9.7802 * power + 0.5553
int power = Math.round((Math.abs(speed) - 0.5553f) * 0.102247398f);
super.setPower(power);
}
/**
* Return the speed value calculated from the actual power value as:
*
*
speed = Math.round(9.7802f * super.getPower() + 0.5553f);
* and as such, the actual speed value may not be what was set with setSpeed.
*
* @return The speed value (converted from power value) in degrees/sec
* @see #setSpeed
*/
public int getSpeed() {
int speed = Math.round(9.7802f * super.getPower() + 0.5553f);
return speed;
}
/**
* NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
* @return Always 924 degrees/sec
*/
public float getMaxSpeed() {
return 924f;
}
/**
* NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
* @return Always false
*/
public boolean isStalled() {
return false;
}
/**
* NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
*/
public void setStallThreshold(int error, int time) {
// do nothing
}
/**
* NOT IMPLEMENTED as the TEXTRIX motor controller does not support this command.
* @param acceleration Ignored
*/
public void setAcceleration(int acceleration) {
// do nothing
}
@Override
public void close() {
// Do nothing
}
@Override
public void synchronizeWith(RegulatedMotor[] syncList)
{
// TODO Auto-generated method stub
}
@Override
public void startSynchronization()
{
// TODO Auto-generated method stub
}
@Override
public void endSynchronization()
{
// TODO Auto-generated method stub
}
}