Java MotorPort.A属性代码示例

public static void main(String[] args) {
		EV3 ev3 = (EV3) BrickFinder.getLocal();
		TextLCD lcd = ev3.getTextLCD();
		Keys keys = ev3.getKeys();
		
		EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1);
		SensorMode touch = touchSensor.getTouchMode();
		float[] sample = new float[touch.sampleSize()];
		
		RegulatedMotor m = new EV3LargeRegulatedMotor(MotorPort.A);
		m.resetTachoCount();
		
		m.rotateTo(320, true);
		
//		int angle = m.getTachoCount(); // should be -360
//		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
		
//		m.rotateTo(-100, true);
//		do{
//			touch.fetchSample(sample, 0);
//		} while (sample[0] == 0);
		
		while (m.isMoving())
			Thread.yield();
		m.stop();	
		
		int angle = m.getTachoCount(); // should be < -100
		lcd.drawInt(angle, 0, 1);
//		keys.waitForAnyPress();
	}
 

public static void main(String[] args) {
		EV3 ev3 = (EV3) BrickFinder.getLocal();
		TextLCD lcd = ev3.getTextLCD();
		Keys keys = ev3.getKeys();
		
		RegulatedMotor m = new EV3LargeRegulatedMotor(MotorPort.A);
		m.resetTachoCount();
		
		m.rotateTo(-40);
		int angle = m.getTachoCount(); // should be 760
		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
	
//		m.rotateTo(0);
//		angle = m.getTachoCount(); // should be 0
//		lcd.drawInt(angle, 0, 1);
//		keys.waitForAnyPress(); // wait for a button press
		
		m.close();
	}
 

/**
 * Instantiates a new helper class and optionally calibrates the cannon.
 * Robot is ready for operation after completion.
 * @param skipMotorCannonCalibration Set to true if you don't want to calibrate the cannon
 */
public EV3Helper(boolean skipMotorCannonCalibration) {
  motorRight = new EV3LargeRegulatedMotor(MotorPort.A);
  motorLeft = new EV3LargeRegulatedMotor(MotorPort.B);

  //Sets default motor speed for driving motors
  motorRight.setSpeed(DEFAULT_MOTOR_SPEED);
  motorLeft.setSpeed(DEFAULT_MOTOR_SPEED);

  motorCannon = instantiateMotorCannon(skipMotorCannonCalibration);
  irSensor = new EV3IRSensor(SensorPort.S1);
  colorSensor = new EV3ColorSensor(SensorPort.S4);

  rangeSampler = irSensor.getDistanceMode();
  lastRange = new float[rangeSampler.sampleSize()];

  colors = getColors();
}
 

public void init(boolean isClockwiseMove) {
	this.robotRunning = true;
	
	//Init Motor
	motorA = new EV3MediumRegulatedMotor(MotorPort.A);
	motorB = new EV3LargeRegulatedMotor(MotorPort.B);
	motorC = new EV3LargeRegulatedMotor(MotorPort.C);
	
	// init sensors
	this.colorSensor = new EV3ColorSensor(SensorPort.S3);
	//For reading color only
	try {
		this.colorSensorRGB = new EV3ColorSensor(SensorPort.S2);
	} catch(Exception e) {
		this.colorSensorRGB = null;
	}
	new Thread(new ColorIdentifyTask()).start();
	new Thread(new LightIdentifyTask()).start();
}
 

private GrabBot(){
    left = new EV3LargeRegulatedMotor(MotorPort.A);
    right = new EV3LargeRegulatedMotor(MotorPort.B);
    touch = new EV3TouchSensor(SensorPort.S1);

    arbitrator = new Arbitrator(new Behavior[]{forward, hit});
}
 

private GrabBot(){
    left = new EV3LargeRegulatedMotor(MotorPort.A);
    right = new EV3LargeRegulatedMotor(MotorPort.B);
    touch = new EV3TouchSensor(SensorPort.S1);

    Behavior forward = new ForwardBehavior(this);
    Behavior hit = new ObstacleBehavior(this);
    arbitrator = new Arbitrator(new Behavior[]{forward, hit});
}
 

public MotorControl()
{
	// init
	leftMotor = new UnregulatedMotor(MotorPort.A);
	rightMotor = new UnregulatedMotor(MotorPort.D);
	
	freeMotors();
}
 

public LineFollower01() {
	mA = new EV3LargeRegulatedMotor(MotorPort.A);
	mB = new EV3LargeRegulatedMotor(MotorPort.B);
	mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mB.setSpeed(120);// 2 RPM
	mC.setSpeed(120);
	mB.synchronizeWith(new RegulatedMotor[] { mC });
	color = colorSensor.getRGBMode();
	colorSample = new float[color.sampleSize()];
	touch = touchSensor.getTouchMode();
	sample = new float[touch.sampleSize()];
}
 

public static void main(String[] args) {
	EV3 ev3 = (EV3) BrickFinder.getLocal();
	TextLCD lcd = ev3.getTextLCD();
	Keys keys = ev3.getKeys();

	// lcd.drawString("Hello Trayan", 4, 2);
	// lcd.drawString("from leJOS", 4, 3);

	// Open clow
	RegulatedMotor mA = new EV3LargeRegulatedMotor(MotorPort.A);

	while (true) {
		mA.resetTachoCount();
		lcd.drawString("Up - Close", 4, 2);
		lcd.drawString("Down - Open", 4, 3);
		lcd.drawString("Escape - Exit", 4, 4);

		// Simple menu
		keys.waitForAnyPress(60000);
		int maRotation = 0;
		if (Button.DOWN.isDown()) {
			maRotation = -620;
		} else if (Button.UP.isDown()) {
			maRotation = 620;
		}
		if (Button.ESCAPE.isDown()) {
			System.exit(0);
		}

		mA.rotateTo(maRotation, false);
		int count = mA.getTachoCount();
		lcd.drawString("Tacho: " + count, 0, 2);
	}

}
 

private static Port getMotorPort(String p) throws EV3ScriptException {
  if (p != null) {
    switch (p) {
    case EV3Constants.A:
      return MotorPort.A;
    case EV3Constants.B:
      return MotorPort.B;
    case EV3Constants.C:
      return MotorPort.C;
    case EV3Constants.D:
      return MotorPort.D;
    }
  }
  throw new EV3ScriptException(EV3ScriptException.INVALID_MOTOR_PORT, MapBuilder.buildHashMap("port", p).build());
}
 

public static void main(String[] args) {
	EV3 ev3 = (EV3) BrickFinder.getLocal();
	TextLCD lcd = ev3.getTextLCD();
	Keys keys = ev3.getKeys();
	
	EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1);
	SensorMode touch = touchSensor.getTouchMode();
	float[] sample = new float[touch.sampleSize()];
	
	RegulatedMotor mA = new EV3LargeRegulatedMotor(MotorPort.A);
	RegulatedMotor mB = new EV3LargeRegulatedMotor(MotorPort.B);
	RegulatedMotor mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mA.resetTachoCount();
	mB.resetTachoCount();
	mC.resetTachoCount();
	
	mA.rotateTo(760);
	int angle = mA.getTachoCount(); // should be -360
	lcd.drawInt(angle, 0, 0);
	keys.waitForAnyPress();
	
	mB.setSpeed(720);// 2 RPM
	mC.setSpeed(720);
	mB.forward();
	mC.forward();
	Delay.msDelay(1000);
	mB.stop();
	mC.stop();
	mB.rotateTo(360);
	mB.rotate(-720, true);
	while (mB.isMoving())
		Thread.yield();
	angle = mB.getTachoCount(); 
	lcd.drawInt(angle, 0, 1);
	
	mA.rotateTo(-100, true);
	do{
		touch.fetchSample(sample, 0);
	} while (mA.isMoving() && sample[0] == 0);
	mA.stop();	
	
	angle = mA.getTachoCount(); // should be -360
	lcd.drawInt(angle, 0, 2);
	keys.waitForAnyPress();
}