Java LinearOpMode类代码示例

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
public void shootBall(LinearOpMode opMode) {
    shootBalls(true);
    waitFor(opMode, RobotConstants.shotWaitPeriod);

    intakeBalls(true);
    waitFor(opMode, 3);

    intakeBalls(false);
    shootBalls(false);
}
 

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
public void shootDoubleBall(LinearOpMode opMode) {
    shootBalls(true);
    waitFor(opMode, RobotConstants.shotWaitPeriod);

    intakeBalls(true);
    waitFor(opMode, 5);

    intakeBalls(false);
    shootBalls(false);
}
 

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
private void waitFor(LinearOpMode opMode, int sec) {
    long millis = sec * 1000;
    long stopTime = System.currentTimeMillis() + millis;
    while(opMode.opModeIsActive() && System.currentTimeMillis() < stopTime) {
        try {
            opMode.waitOneFullHardwareCycle();
        } catch(Exception ex) {}
    }
}
 

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
/**
     * Initializes all drive and ball motors in USING ENCODERS mode
     * @param hwMap
     */
    public void initAutoOp(LinearOpMode opMode, HardwareMap hwMap) {
        this.hwMap = hwMap;

        initDrive();
        initBall();
//        initCap();
//        initServos();
//        initSensors();

        for(DcMotor driveMotor : driveMotors) {
            driveMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
            opMode.idle();
            driveMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            driveMotor.setDirection(DcMotorSimple.Direction.FORWARD);
            driveMotor.setPower(0);
        }
        for(DcMotor ballMotor : ballMotors) {
            ballMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
            opMode.idle();
            ballMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            ballMotor.setDirection(DcMotorSimple.Direction.FORWARD);
            ballMotor.setPower(0);
        }
//        cap.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//        cap.setDirection(DcMotorSimple.Direction.FORWARD);
//        cap.setPower(0);
    }
 

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
public static int waitForBeaconDetection(LinearOpMode opMode, Image img,
                                   VuforiaTrackableDefaultListener beacon,
                                   CameraCalibration camCal, long timeOut) {
    int config = NOT_VISIBLE;
    long beginTime = System.currentTimeMillis();
    while (config == NOT_VISIBLE && System.currentTimeMillis() - beginTime < timeOut && opMode.opModeIsActive()) {
        config = getBeaconConfig(img, beacon, camCal);
        opMode.idle();
    }

    return config;
}
 

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
@Override
public boolean check(Thread opModeThread, OpMode currentOpMode) {
    return currentOpMode instanceof LinearOpMode &&
            ((LinearOpMode) currentOpMode).isStopRequested();
}
 

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; //导入依赖的package包/类
/**
 * This method traverses the menu tree from the given root menu displaying each menu and waiting for the user
 * to respond to a menu. After the user responded to a menu, it will go to the next menu in the tree. If the
 * user cancels the menu, it will go back to the parent menu where it came from. If there is no next menu, the
 * traversal is ended. Note: this is a static method, meaning you can call it without a menu instance. Also note
 * that this is a blocking call so this should not be called in a multitasking robot loop such as in the execution
 * of a state machine. To use the menus in a multitasking environment, you must use the runMenus() method instead.
 *
 * @param rootMenu specifies the root of the menu tree.
 * @param opmode specifies the linear opmode that calls this.
 */
public static void walkMenuTree(FtcMenu rootMenu, LinearOpMode opmode)
{
    setRootMenu(rootMenu);
    rootMenu.displayMenu();
    while (!runMenus() && !opmode.isStopRequested())
    {
        TrcUtil.sleep(LOOP_INTERVAL);
    }
}