Java DigitalChannelController类代码示例

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
/**
 * wrap a DigitalChannel in a DigitalSensor
 *
 * @param digitalChannel the input to wrap
 * @return the created DigitalSensor
 */
public static DigitalSensor digital(final DigitalChannel digitalChannel) {
    digitalChannel.setMode(DigitalChannelController.Mode.INPUT);

    return new DigitalSensor() {
        @Override
        public Boolean getValue() {
            return digitalChannel.getState();
        }
    };
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
/**
 * Retrieves references to the sensor and device interface module
 * Sets up and turns on sensor's LED
 * Default baseline values until calibration
 * @param sensor Reference to sensor hardware
 * @param dim Reference to the device interface module hardware
 */
public void init(ColorSensor sensor, DeviceInterfaceModule dim) {
    rgbSensor = sensor;
    cdim = dim;

    cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannelController.Mode.OUTPUT);
    cdim.setDigitalChannelState(LED_CHANNEL, true);

    BASELINE_BLUE = 127;
    BASELINE_RED = 127;
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
public AdafruitSensorWrapper(ColorSensor sensor, DeviceInterfaceModule dim, int ledPort, boolean enabled) {
    this.sensor = sensor;
    rawBlue = new Color();
    rawGreen = new Color();
    rawRed = new Color();

    if (dim != null) {
        this.dim = dim;
        this.ledPort = ledPort;
        led = enabled;
        dim.setDigitalChannelMode(0, DigitalChannelController.Mode.OUTPUT);
        dim.setDigitalChannelState(0, enabled);
    }
    update();
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
@Override
public void runOpMode() {

  boolean               inputPin;             // Input State
  boolean               outputPin;            // Output State
  DeviceInterfaceModule dim;                  // Device Object
  DigitalChannel        digIn;                // Device Object
  DigitalChannel        digOut;               // Device Object

  // get a reference to a Modern Robotics DIM, and IO channels.
  dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");   //  Use generic form of device mapping
  digIn  = hardwareMap.get(DigitalChannel.class, "digin");     //  Use generic form of device mapping
  digOut = hardwareMap.get(DigitalChannel.class, "digout");    //  Use generic form of device mapping

  digIn.setMode(DigitalChannelController.Mode.INPUT);          // Set the direction of each channel
  digOut.setMode(DigitalChannelController.Mode.OUTPUT);

  // wait for the start button to be pressed.
  telemetry.addData(">", "Press play, and then user X button to set DigOut");
  telemetry.update();
  waitForStart();

  while (opModeIsActive())  {

      outputPin = gamepad1.x ;        //  Set the output pin based on x button
      digOut.setState(outputPin);
      inputPin = digIn.getState();    //  Read the input pin

      // Display input pin state on LEDs
      if (inputPin) {
          dim.setLED(RED_LED_CHANNEL, true);
          dim.setLED(BLUE_LED_CHANNEL, false);
      }
      else {
          dim.setLED(RED_LED_CHANNEL, false);
          dim.setLED(BLUE_LED_CHANNEL, true);
      }

      telemetry.addData("Output", outputPin );
      telemetry.addData("Input", inputPin );
      telemetry.addData("LED",   inputPin ? "Red" : "Blue" );
      telemetry.update();
  }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
@Override
public void runOpMode() {

  // hsvValues is an array that will hold the hue, saturation, and value information.
  float hsvValues[] = {0F,0F,0F};

  // values is a reference to the hsvValues array.
  final float values[] = hsvValues;

  // get a reference to the RelativeLayout so we can change the background
  // color of the Robot Controller app to match the hue detected by the RGB sensor.
  final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(R.id.RelativeLayout);

  // bPrevState and bCurrState represent the previous and current state of the button.
  boolean bPrevState = false;
  boolean bCurrState = false;

  // bLedOn represents the state of the LED.
  boolean bLedOn = true;

  // get a reference to our DeviceInterfaceModule object.
  cdim = hardwareMap.deviceInterfaceModule.get("dim");

  // set the digital channel to output mode.
  // remember, the Adafruit sensor is actually two devices.
  // It's an I2C sensor and it's also an LED that can be turned on or off.
  cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannelController.Mode.OUTPUT);

  // get a reference to our ColorSensor object.
  sensorRGB = hardwareMap.colorSensor.get("sensor_color");

  // turn the LED on in the beginning, just so user will know that the sensor is active.
  cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);

  // wait for the start button to be pressed.
  waitForStart();

  // loop and read the RGB data.
  // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
  while (opModeIsActive())  {

    // check the status of the x button on gamepad.
    bCurrState = gamepad1.x;

    // check for button-press state transitions.
    if ((bCurrState == true) && (bCurrState != bPrevState))  {

      // button is transitioning to a pressed state. Toggle the LED.
      bLedOn = !bLedOn;
      cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
    }

    // update previous state variable.
    bPrevState = bCurrState;

    // convert the RGB values to HSV values.
    Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues);

    // send the info back to driver station using telemetry function.
    telemetry.addData("LED", bLedOn ? "On" : "Off");
    telemetry.addData("Clear", sensorRGB.alpha());
    telemetry.addData("Red  ", sensorRGB.red());
    telemetry.addData("Green", sensorRGB.green());
    telemetry.addData("Blue ", sensorRGB.blue());
    telemetry.addData("Hue", hsvValues[0]);

    // change the background color to match the color detected by the RGB sensor.
    // pass a reference to the hue, saturation, and value array as an argument
    // to the HSVToColor method.
    relativeLayout.post(new Runnable() {
      public void run() {
        relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
      }
    });

    telemetry.update();
  }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {

  // hsvValues is an array that will hold the hue, saturation, and value information.
  float hsvValues[] = {0F,0F,0F};

  // values is a reference to the hsvValues array.
  final float values[] = hsvValues;

  // get a reference to the RelativeLayout so we can change the background
  // color of the Robot Controller app to match the hue detected by the RGB sensor.
  final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(R.id.RelativeLayout);

  // bPrevState and bCurrState represent the previous and current state of the button.
  boolean bPrevState = false;
  boolean bCurrState = false;

  // bLedOn represents the state of the LED.
  boolean bLedOn = true;

  // get a reference to our DeviceInterfaceModule object.
  cdim = hardwareMap.deviceInterfaceModule.get("dim");

  // set the digital channel to output mode.
  // remember, the Adafruit sensor is actually two devices.
  // It's an I2C sensor and it's also an LED that can be turned on or off.
  cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannelController.Mode.OUTPUT);

  // get a reference to our ColorSensor object.
  sensorRGB = hardwareMap.colorSensor.get("color");

  // turn the LED on in the beginning, just so user will know that the sensor is active.
  cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);

  // wait for the start button to be pressed.
  waitForStart();

  // loop and read the RGB data.
  // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
  while (opModeIsActive())  {

    // check the status of the x button on gamepad.
    bCurrState = gamepad1.x;

    // check for button-press state transitions.
    if ((bCurrState == true) && (bCurrState != bPrevState))  {

      // button is transitioning to a pressed state. Toggle the LED.
      bLedOn = !bLedOn;
      cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
    }

    // update previous state variable.
    bPrevState = bCurrState;

    // convert the RGB values to HSV values.
    Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues);

    // send the info back to driver station using telemetry function.
    telemetry.addData("LED", bLedOn ? "On" : "Off");
    telemetry.addData("Clear", sensorRGB.alpha());
    telemetry.addData("Red  ", sensorRGB.red());
    telemetry.addData("Green", sensorRGB.green());
    telemetry.addData("Blue ", sensorRGB.blue());
    telemetry.addData("Hue", hsvValues[0]);

    // change the background color to match the color detected by the RGB sensor.
    // pass a reference to the hue, saturation, and value array as an argument
    // to the HSVToColor method.
    relativeLayout.post(new Runnable() {
      public void run() {
        relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
      }
    });

    telemetry.update();
    idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
  }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
private void mapLED(HardwareMap map, DeviceManager deviceMgr, DigitalChannelController digitalChannelController, DeviceConfiguration devConf) {
    if (!devConf.isEnabled()) return;
    LED led = deviceMgr.createLED(digitalChannelController, devConf.getPort());
    map.led.put(devConf.getName(), led);
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {

    boolean inputPin;             // Input State
    boolean outputPin;            // Output State
    DeviceInterfaceModule dim;                  // Device Object
    DigitalChannel digIn;                // Device Object
    DigitalChannel digOut;               // Device Object

    // get a reference to a Modern Robotics DIM, and IO channels.
    dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");   //  Use generic form of device mapping
    digIn = hardwareMap.get(DigitalChannel.class, "digin");     //  Use generic form of device mapping
    digOut = hardwareMap.get(DigitalChannel.class, "digout");    //  Use generic form of device mapping

    digIn.setMode(DigitalChannelController.Mode.INPUT);          // Set the direction of each channel
    digOut.setMode(DigitalChannelController.Mode.OUTPUT);

    // wait for the start button to be pressed.
    telemetry.addData(">", "Press play, and then user X button to set DigOut");
    telemetry.update();
    waitForStart();

    while (opModeIsActive()) {

        outputPin = gamepad1.x;        //  Set the output pin based on x button
        digOut.setState(outputPin);
        inputPin = digIn.getState();    //  READ the input pin

        // Display input pin state on LEDs
        if (inputPin) {
            dim.setLED(RED_LED_CHANNEL, true);
            dim.setLED(BLUE_LED_CHANNEL, false);
        } else {
            dim.setLED(RED_LED_CHANNEL, false);
            dim.setLED(BLUE_LED_CHANNEL, true);
        }

        telemetry.addData("Output", outputPin);
        telemetry.addData("Input", inputPin);
        telemetry.addData("LED", inputPin ? "Red" : "Blue");
        telemetry.update();
    }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannelController; //导入依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {

  // hsvValues is an array that will hold the hue, saturation, and value information.
  float hsvValues[] = {0F,0F,0F};

  // values is a reference to the hsvValues array.
  final float values[] = hsvValues;

  // get a reference to the RelativeLayout so we can change the background
  // color of the Robot Controller app to match the hue detected by the RGB sensor.
  final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(R.id.RelativeLayout);

  // bPrevState and bCurrState represent the previous and current state of the button.
  boolean bPrevState = false;
  boolean bCurrState = false;

  // bLedOn represents the state of the LED.
  boolean bLedOn = true;

  // get a reference to our DeviceInterfaceModule object.
  cdim = hardwareMap.deviceInterfaceModule.get("dim");

  // set the digital channel to output mode.
  // remember, the Adafruit sensor is actually two devices.
  // It's an I2C sensor and it's also an LED that can be turned on or off.
  cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannelController.Mode.OUTPUT);

  // get a reference to our ColorSensor object.
  sensorRGB = hardwareMap.colorSensor.get("sensor_color");

  // turn the LED on in the beginning, just so user will know that the sensor is active.
  cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);

  // wait for the start button to be pressed.
  waitForStart();

  // loop and read the RGB data.
  // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
  while (opModeIsActive())  {

    // check the status of the x button on gamepad.
    bCurrState = gamepad1.x;

    // check for button-press state transitions.
    if ((bCurrState == true) && (bCurrState != bPrevState))  {

      // button is transitioning to a pressed state. Toggle the LED.
      bLedOn = !bLedOn;
      cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
    }

    // update previous state variable.
    bPrevState = bCurrState;

    // convert the RGB values to HSV values.
    Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues);

    // send the info back to driver station using telemetry function.
    telemetry.addData("LED", bLedOn ? "On" : "Off");
    telemetry.addData("Clear", sensorRGB.alpha());
    telemetry.addData("Red  ", sensorRGB.red());
    telemetry.addData("Green", sensorRGB.green());
    telemetry.addData("Blue ", sensorRGB.blue());
    telemetry.addData("Hue", hsvValues[0]);

    // change the background color to match the color detected by the RGB sensor.
    // pass a reference to the hue, saturation, and value array as an argument
    // to the HSVToColor method.
    relativeLayout.post(new Runnable() {
      public void run() {
        relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
      }
    });

    telemetry.update();
  }
}