Java ElapsedTime类代码示例

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 */
public void gyroHold( double speed, double angle, double holdTime) {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
    }

    // Stop all motion;
    robot.leftMotor.setPower(0);
    robot.rightMotor.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 */
public void gyroHold( double speed, double angle, double holdTime) {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
    }

    // Stop all motion;
    robot.leftDrive.setPower(0);
    robot.rightDrive.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 * @throws InterruptedException
 */
public void gyroHold( double speed, double angle, double holdTime)
                        throws InterruptedException {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
        idle();
    }

    // Stop all motion;
    robot.leftMotor.setPower(0);
    robot.rightMotor.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 */
public void gyroHold(double speed, double angle, double holdTime) {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
    }

    // Stop all motion;
    robot.leftMotor.setPower(0);
    robot.rightMotor.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
@Override
public void init() {

    driveRightFront = hardwareMap.dcMotor.get("driveRightFront");
    driveLeftFront = hardwareMap.dcMotor.get("driveLeftFront");
    driveRightBack = hardwareMap.dcMotor.get("driveRightBack");
    driveLeftBack = hardwareMap.dcMotor.get("driveLeftBack");
    driveRightFront.setDirection(DcMotor.Direction.REVERSE);
    driveRightBack.setDirection(DcMotor.Direction.REVERSE);

    driveFrontController = hardwareMap.dcMotorController.get("driveFrontController");
    driveBackController = hardwareMap.dcMotorController.get("driveBackController");

    time = new ElapsedTime();
    state = State.drivingStraight;

}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
@Override
public void runOpMode() throws InterruptedException
    {
    DcMotor motor = this.hardwareMap.dcMotor.get("motorRight");
    Servo servo = this.hardwareMap.servo.get("servo");

    waitForStart();

    double servoPosition = 0;
    servo.setPosition(servoPosition);

    motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

    ElapsedTime elapsedTime = new ElapsedTime();
    int spinCount = 0;

    while (this.opModeIsActive())
        {
        servoPosition += 1. / 256.;
        if (servoPosition >= 1)
            servoPosition = 0;
        servo.setPosition(servoPosition);

        motor.setPower(0.15);

        spinCount++;
        double ms = elapsedTime.milliseconds();
        telemetry.addData("position", format(servoPosition));
        telemetry.addData("#spin",    format(spinCount));
        telemetry.addData("ms/spin",  format(ms / spinCount));
        this.updateTelemetry(telemetry);
        }

    motor.setPower(0);
    }
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
/**
 * Instantiate an I2cDeviceClient instance in the indicated device with the indicated initial
 * window of registers being read.
 *
 * @param context     the OpMode within which the creation is taking place
 * @param i2cDevice   the device we are to be a client of
 * @param i2cAddr8Bit its 8 bit i2cAddress
 */
public I2cDeviceClient(@Nullable OpMode context, II2cDevice i2cDevice, int i2cAddr8Bit, boolean closeOnOpModeStop) {
    i2cDevice.setI2cAddr(i2cAddr8Bit);

    this.i2cDevice = i2cDevice;
    this.isArmed = false;
    this.disarming = false;
    this.callback = new Callback();
    this.callbackThread = null;
    this.callbackThreadOriginalPriority = 0;    // not known
    this.callbackThreadPriorityBoost = 0;       // no boost
    this.hardwareCycleCount = 0;
    this.loggingEnabled = false;
    this.loggingTag = String.format("%s:client(%s)", this.getClass().getSimpleName(), i2cDevice.getDeviceName());
    this.timeSinceLastHeartbeat = new ElapsedTime();
    this.timeSinceLastHeartbeat.reset();
    this.msHeartbeatInterval = 0;
    this.heartbeatAction = null;
    this.heartbeatExecutor = null;

    this.readCache = this.i2cDevice.getI2cReadCache();
    this.readCacheLock = this.i2cDevice.getI2cReadCacheLock();
    this.writeCache = this.i2cDevice.getI2cWriteCache();
    this.writeCacheLock = this.i2cDevice.getI2cWriteCacheLock();

    this.readWindow = null;
    this.readWindowActuallyRead = null;
    this.readWindowSentToController = null;
    this.readWindowChanged = false;
    this.readWindowSentToControllerInitialized = false;

    this.nanoTimeReadCacheValid = 0;
    this.readCacheStatus = READ_CACHE_STATUS.IDLE;
    this.writeCacheStatus = WRITE_CACHE_STATUS.IDLE;
    this.modeCacheStatus = MODE_CACHE_STATUS.IDLE;

    if (closeOnOpModeStop)
        RobotStateTransitionNotifier.register(context, this);
}
 

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

        /* we keep track of how long it's been since the OpMode was started, just
         * to have some interesting data to show */
        ElapsedTime opmodeRunTime = new ElapsedTime();

        // We show the log in oldest-to-newest order, as that's better for poetry
        telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
        // We can control the number of lines shown in the log
        telemetry.log().setCapacity(6);
        // The interval between lines of poetry, in seconds
        double sPoemInterval = 0.6;

        /**
         * Wait until we've been given the ok to go. For something to do, we emit the
         * elapsed time as we sit here and wait. If we didn't want to do anything while
         * we waited, we would just call {@link #waitForStart()}.
         */
        while (!isStarted()) {
            telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
            telemetry.update();
            idle();
        }

        // Ok, we've been given the ok to go

        /**
         * As an illustration, the first line on our telemetry display will display the battery voltage.
         * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
         * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
         * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
         *
         * @see Telemetry#getMsTransmissionInterval()
         */
        telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
            @Override public Double value() {
                return getBatteryVoltage();
            }
            });

        // Reset to keep some timing stats for the post-'start' part of the opmode
        opmodeRunTime.reset();
        int loopCount = 1;

        // Go go gadget robot!
        while (opModeIsActive()) {

            // Emit poetry if it's been a while
            if (poemElapsed.seconds() > sPoemInterval) {
                emitPoemLine();
            }

            // As an illustration, show some loop timing information
            telemetry.addData("loop count", loopCount);
            telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            /**
             * Transmit the telemetry to the driver station, subject to throttling.
             * @see Telemetry#getMsTransmissionInterval()
             */
            telemetry.update();

            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
            loopCount++;
        }
    }
 

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

        /* we keep track of how long it's been since the OpMode was started, just
         * to have some interesting data to show */
        ElapsedTime opmodeRunTime = new ElapsedTime();

        // We show the log in oldest-to-newest order, as that's better for poetry
        telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
        // We can control the number of lines shown in the log
        telemetry.log().setCapacity(6);
        // The interval between lines of poetry, in seconds
        double sPoemInterval = 0.6;

        /**
         * Wait until we've been given the ok to go. For something to do, we emit the
         * elapsed time as we sit here and wait. If we didn't want to do anything while
         * we waited, we would just call {@link #waitForStart()}.
         */
        while (!isStarted()) {
            telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
            telemetry.update();
            idle();
            }

        // Ok, we've been given the ok to go

        /**
         * As an illustration, the first line on our telemetry display will display the battery voltage.
         * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
         * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
         * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
         *
         * @see Telemetry#getMsTransmissionInterval()
         */
        telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
            @Override public Double value() {
                return getBatteryVoltage();
                }
            });

        // Reset to keep some timing stats for the post-'start' part of the opmode
        opmodeRunTime.reset();
        int loopCount = 1;

        // Go go gadget robot!
        while (opModeIsActive()) {

            // Emit poetry if it's been a while
            if (poemElapsed.seconds() > sPoemInterval) {
                emitPoemLine();
                }

            // As an illustration, show some loop timing information
            telemetry.addData("loop count", loopCount);
            telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            /**
             * Transmit the telemetry to the driver station, subject to throttling.
             * @see Telemetry#getMsTransmissionInterval()
             */
            telemetry.update();

            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
            loopCount++;
            idle();
            }
        }
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入依赖的package包/类
static public double milliseconds(ElapsedTime elapsed) {
    return elapsed.time() * 1000.0;
}
 

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

        /* we keep track of how long it's been since the OpMode was started, just
         * to have some interesting data to show */
        ElapsedTime opmodeRunTime = new ElapsedTime();

        // We show the log in oldest-to-newest order, as that's better for poetry
        telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
        // We can control the number of lines shown in the log
        telemetry.log().setCapacity(6);
        // The interval between lines of poetry, in seconds
        double sPoemInterval = 0.6;

        /**
         * Wait until we've been given the ok to go. For something to do, we emit the
         * elapsed time as we sit here and wait. If we didn't want to do anything while
         * we waited, we would just call {@link #waitForStart()}.
         */
        while (!isStarted()) {
            telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
            telemetry.update();
            idle();
        }

        // Ok, we've been given the ok to go

        /**
         * As an illustration, the first line on our telemetry display will display the battery voltage.
         * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
         * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
         * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
         *
         * @see Telemetry#getMsTransmissionInterval()
         */
        telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
            @Override public Double value() {
                return getBatteryVoltage();
            }
            });

        // Reset to keep some timing stats for the post-'start' part of the opmode
        opmodeRunTime.reset();
        int loopCount = 1;

        // Go go gadget robot!
        while (opModeIsActive()) {

            // Emit poetry if it's been a while
            if (poemElapsed.seconds() > sPoemInterval) {
                emitPoemLine();
            }

            // As an illustration, show some loop timing information
            telemetry.addData("loop count", loopCount);
            telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            /**
             * Transmit the telemetry to the driver station, subject to throttling.
             * @see Telemetry#getMsTransmissionInterval()
             */
            telemetry.update();

            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
            loopCount++;
        }
    }