lejos.hardware.motor
Class MindsensorsGlideWheelMRegulatedMotor

java.lang.Object
  extended by lejos.hardware.Device
      extended by lejos.hardware.motor.BaseRegulatedMotor
          extended by lejos.hardware.motor.MindsensorsGlideWheelMRegulatedMotor
All Implemented Interfaces:
java.io.Closeable, BaseMotor, Encoder, RegulatedMotor, Tachometer

public class MindsensorsGlideWheelMRegulatedMotor
extends BaseRegulatedMotor

Abstraction for a Mindsensors Glidewheel-M equipped PF motor.
Note: These settings are for the "M" motor. This motor does not seem to like running slowly, or to use acceleration values less than around 500deg/s/s. Also tested with the "XL" motor which seems to work well other than some oscillation when holding. We may need different settings for the two. TODO: Find some way to make this work with an I term for hold TODO: Can probably be tuned better then this.


Field Summary
 
Fields inherited from class lejos.hardware.motor.BaseRegulatedMotor
acceleration, NO_LIMIT, reg, speed, tachoPort
 
Fields inherited from class lejos.hardware.Device
closeList
 
Constructor Summary
MindsensorsGlideWheelMRegulatedMotor(Port port)
          Use this constructor to assign a variable of type motor connected to a particular port.
MindsensorsGlideWheelMRegulatedMotor(TachoMotorPort port)
          Use this constructor to assign a variable of type motor connected to a particular port.
 
Method Summary
 
Methods inherited from class lejos.hardware.motor.BaseRegulatedMotor
addListener, backward, close, flt, flt, forward, getAcceleration, getLimitAngle, getMaxSpeed, getPosition, getRotationSpeed, getSpeed, getTachoCount, isMoving, isStalled, lock, removeListener, resetTachoCount, rotate, rotate, rotateTo, rotateTo, setAcceleration, setSpeed, setSpeed, setStallThreshold, stop, stop, suspendRegulation, waitComplete
 
Methods inherited from class lejos.hardware.Device
releaseOnClose
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

MindsensorsGlideWheelMRegulatedMotor

public MindsensorsGlideWheelMRegulatedMotor(TachoMotorPort port)
Use this constructor to assign a variable of type motor connected to a particular port.

Parameters:
port - to which this motor is connected

MindsensorsGlideWheelMRegulatedMotor

public MindsensorsGlideWheelMRegulatedMotor(Port port)
Use this constructor to assign a variable of type motor connected to a particular port.

Parameters:
port - to which this motor is connected