Java Range类代码示例

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void handle() {
    Vector inputVector = new Vector(robot.gamepad1.left_stick_x, -robot.gamepad1.left_stick_y); //gamepads are weird, -1 is at the top of the y axis
    Vector motionVector = inputVector.rotate(-Math.PI / 4);
    if (robot.gamepad1.left_bumper && motionVector.isZeroVector()) {
        motor1.setPower(-1);
        motor2.setPower(1);
        motor3.setPower(1);
        motor4.setPower(-1);

    }
    else if (robot.gamepad1.right_bumper && motionVector.isZeroVector()) {
        motor1.setPower(1);
        motor2.setPower(-1);
        motor3.setPower(-1);
        motor4.setPower(1);
    } else {
        double offset = (robot.gamepad1.left_trigger - robot.gamepad1.right_trigger) / 4;
        motor1.setPower(Range.clip(motionVector.x - offset, -1, 1));
        motor2.setPower(Range.clip(motionVector.y + offset, -1, 1));
        motor3.setPower(Range.clip(motionVector.y - offset, -1, 1));
        motor4.setPower(Range.clip(motionVector.x + offset, -1, 1));

    }

}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
/**
 * Mutate the hand position.
 */
void m_hand_position (double p_position)
{
    //
    // Ensure the specific value is legal.
    //
    double l_position = Range.clip
        ( p_position
        , Servo.MIN_POSITION
        , Servo.MAX_POSITION
        );

    //
    // Set the value.  The right hand value must be opposite of the left
    // value.
    //
    if (v_servo_left_hand != null)
    {
        v_servo_left_hand.setPosition (l_position);
    }
    if (v_servo_right_hand != null)
    {
        v_servo_right_hand.setPosition (1.0 - l_position);
    }

}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
public static float[] holonomic(float joystick_turn, float joystick_speed, float
        joystick_strafe) {
    // Front Left Wheel: y - x + z (speed - turn + strafe)
    // Front Right Wheel: y + x - z (speed + turn - strafe)
    // Back Left Wheel: y + x + z (speed + turn + strafe)
    // Back Right Wheel: y - x - z (speed - turn - strafe)

    double mag = Math.abs(joystick_turn) + Math.abs(joystick_speed) + Math.abs(joystick_strafe);
    mag = Range.clip(mag, -1, 1);

    float fl, fr, bl, br;
    fl = (float)Range.clip((scaleInput(joystick_speed) - scaleInput(joystick_turn) + scaleInput
                    (joystick_strafe)), -mag, +mag);
    fr = (float)Range.clip((scaleInput(joystick_speed) + scaleInput(joystick_turn) - scaleInput
            (joystick_strafe)), -mag, +mag);
    bl = (float)Range.clip((scaleInput(joystick_speed) + scaleInput(joystick_turn) + scaleInput
            (joystick_strafe)), -mag, +mag);
    br = (float)Range.clip((scaleInput(joystick_speed) - scaleInput(joystick_turn) - scaleInput
            (joystick_strafe)), -mag, +mag);

    float[] motorVals = {fl, fr, bl, br};
    return motorVals;
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void drive(double x, double y, double rotPower) {
    //double transLength = Math.hypot(x, y);
    double adjY = y;
    double adjX = x;
    double frontLeft = adjY + adjX + rotPower;
    double frontRight = adjY - adjX - rotPower;
    double backRight = adjY + adjX - rotPower;
    double backLeft = adjY - adjX + rotPower;

    frontLeft = Range.clip(frontLeft, -1, 1);
    frontRight = Range.clip(frontRight, -1, 1);
    backLeft = Range.clip(backLeft, -1, 1);
    backRight = Range.clip(backRight, -1, 1);

    frontLeft *= hwInterface.disableMap[0];
    frontRight *= hwInterface.disableMap[1];
    backLeft *= hwInterface.disableMap[2];
    backRight *= hwInterface.disableMap[3];

    hwInterface.leftFront.setPower(frontLeft);
    hwInterface.rightFront.setPower(frontRight);
    hwInterface.leftRear.setPower(backLeft);
    hwInterface.rightRear.setPower(backRight);

}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
private void normalize() {
    // temp things
    int low = Math.min(Math.min(rawRed.raw, rawGreen.raw), rawBlue.raw);
    int high = Math.max(Math.max(rawRed.raw, rawGreen.raw), rawBlue.raw);

    if (low - high != 0) {
        int nRed = 0;
        if (rawRed.low != rawRed.high) {
            nRed = (int) Range.scale(rawRed.raw, rawRed.low, rawRed.high, low, high);
        }

        int nGreen = 0;
        if (rawGreen.low != rawGreen.high) {
            nGreen = (int) Range.scale(rawGreen.raw, rawGreen.low, rawGreen.high, low, high);
        }

        int nBlue = 0;
        if (rawBlue.low != rawBlue.high) {
            nBlue = (int) Range.scale(rawBlue.raw, rawBlue.low, rawBlue.high, low, high);
        }

        rawRed.normal = (int) Range.scale(nRed, low, high, 0, 255);
        rawGreen.normal = (int) Range.scale(nGreen, low, high, 0, 255);
        rawBlue.normal = (int) Range.scale(nBlue, low, high, 0, 255);
    }
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
/**
 * Mutate the hand position.
 */
void m_hand_position(double p_position) {
    //
    // Ensure the specific value is legal.
    //
    double l_position = Range.clip
            (p_position
                    , Servo.MIN_POSITION
                    , Servo.MAX_POSITION
            );

    //
    // Set the value.  The right hand value must be opposite of the left
    // value.
    //
    if (v_servo_left_hand != null) {
        v_servo_left_hand.setPosition(l_position);
    }
    if (v_servo_right_hand != null) {
        v_servo_right_hand.setPosition(1.0 - l_position);
    }

}
 

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

    double rightDriveMotorsSpeed = -gamepad1.right_stick_y;
    double leftDriveMotorsSpeed  = -gamepad1.left_stick_y;

    rightDriveMotorsSpeed = Range.clip(rightDriveMotorsSpeed, -1, 1);
    leftDriveMotorsSpeed = Range.clip(leftDriveMotorsSpeed, -1, 1);

    rightDriveMotorsSpeed = scaleInput(rightDriveMotorsSpeed);
    leftDriveMotorsSpeed = scaleInput(leftDriveMotorsSpeed);

    driveRightFront.setPower(rightDriveMotorsSpeed);
    driveRightBack.setPower(rightDriveMotorsSpeed);
    driveLeftFront.setPower(leftDriveMotorsSpeed);
    driveLeftBack.setPower(leftDriveMotorsSpeed);

}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
public void run()
{
    telemetry.addData("0:", "Running");
    super.init();
    //motorRight.setMode(DcMotorController.RunMode.RESET_ENCODERS);
    //motorLeft.setMode(DcMotorController.RunMode.RESET_ENCODERS);
    motorRight.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
    motorLeft.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
    float powerLeft = speed;
    float powerRight = speed;
    powerLeft = Range.clip(powerLeft, -1, 1);
    powerRight = Range.clip(powerRight, -1, 1);
    motorLeft.setTargetPosition(distance);
    motorLeft.setPower(powerLeft);
    motorRight.setTargetPosition(distance);
    motorRight.setPower(powerRight);

}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
public void run()
{
    //motorRight.setMode(DcMotorController.RunMode.RESET_ENCODERS);
    //motorLeft.setMode(DcMotorController.RunMode.RESET_ENCODERS);
    motorRight.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
    motorLeft.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
    float powerLeft = 0;
    float powerRight = 0;
    if(direction.equals("left"))
    {
        powerLeft = -speed;
        powerRight = speed;
    }
    if(direction.equals("right"))
    {
        powerLeft = speed;
        powerRight = -speed;
    }
    powerLeft = Range.clip(powerLeft, -1, 1);
    powerRight = Range.clip(powerRight, -1, 1);
    motorLeft.setTargetPosition(distance);
    motorLeft.setPower(powerLeft);
    motorRight.setTargetPosition(distance);
    motorRight.setPower(powerRight);
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void loop() {
    double left;
    double right;

    // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
    left = -gamepad1.left_stick_y;
    right = -gamepad1.right_stick_y;
    robot.leftMotor.setPower(left);
    robot.rightMotor.setPower(right);

    // Use gamepad left & right Bumpers to open and close the claw
    if (gamepad1.right_bumper)
        clawOffset += CLAW_SPEED;
    else if (gamepad1.left_bumper)
        clawOffset -= CLAW_SPEED;

    // Move both servos to new position.  Assume servos are mirror image of each other.
    clawOffset = Range.clip(clawOffset, -0.5, 0.5);
    robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
    robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);

    // Use gamepad buttons to move the arm up (Y) and down (A)
    if (gamepad1.y)
        robot.armMotor.setPower(robot.ARM_UP_POWER);
    else if (gamepad1.a)
        robot.armMotor.setPower(robot.ARM_DOWN_POWER);
    else
        robot.armMotor.setPower(0.0);

    // Send telemetry message to signify robot running;
    telemetry.addData("claw",  "Offset = %.2f", clawOffset);
    telemetry.addData("left",  "%.2f", left);
    telemetry.addData("right", "%.2f", right);
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void loop() {
    double left;
    double right;

    // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
    left = -gamepad1.left_stick_y;
    right = -gamepad1.right_stick_y;

    robot.leftDrive.setPower(left);
    robot.rightDrive.setPower(right);

    // Use gamepad left & right Bumpers to open and close the claw
    if (gamepad1.right_bumper)
        clawOffset += CLAW_SPEED;
    else if (gamepad1.left_bumper)
        clawOffset -= CLAW_SPEED;

    // Move both servos to new position.  Assume servos are mirror image of each other.
    clawOffset = Range.clip(clawOffset, -0.5, 0.5);
    robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
    robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);

    // Use gamepad buttons to move the arm up (Y) and down (A)
    if (gamepad1.y)
        robot.leftArm.setPower(robot.ARM_UP_POWER);
    else if (gamepad1.a)
        robot.leftArm.setPower(robot.ARM_DOWN_POWER);
    else
        robot.leftArm.setPower(0.0);

    // Send telemetry message to signify robot running;
    telemetry.addData("claw",  "Offset = %.2f", clawOffset);
    telemetry.addData("left",  "%.2f", left);
    telemetry.addData("right", "%.2f", right);
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void loop() {
    // Setup a variable for each drive wheel to save power level for telemetry
    double leftPower;
    double rightPower;

    // Choose to drive using either Tank Mode, or POV Mode
    // Comment out the method that's not used.  The default below is POV.

    // POV Mode uses left stick to go forward, and right stick to turn.
    // - This uses basic math to combine motions and is easier to drive straight.
    double drive = -gamepad1.left_stick_y;
    double turn  =  gamepad1.right_stick_x;
    leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
    rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;

    // Tank Mode uses one stick to control each wheel.
    // - This requires no math, but it is hard to drive forward slowly and keep straight.
    // leftPower  = -gamepad1.left_stick_y ;
    // rightPower = -gamepad1.right_stick_y ;

    // Send calculated power to wheels
    leftDrive.setPower(leftPower);
    rightDrive.setPower(rightPower);

    // Show the elapsed game time and wheel power.
    telemetry.addData("Status", "Run Time: " + runtime.toString());
    telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void loop(){
    double x = gamepad1.left_stick_x;
    double y = gamepad1.left_stick_y;
    double c = gamepad1.left_trigger-gamepad1.right_trigger;
    motor1.setPower(Range.clip(y-x+c, -1, 1));
    motor2.setPower(Range.clip(y+x-c, -1, 1));
    motor3.setPower(Range.clip(y+x+c, -1, 1));
    motor4.setPower(Range.clip(y-x-c, -1, 1));

    if(gamepad1.right_bumper){
        if(gamepad1.x){
            motor5.setPower(1);
            motor6.setPower(1);
        }else {
            motor5.setPower(0.7);
            motor6.setPower(0.65);
        }
        leftcr.setPosition(1);
        rightcr.setPosition(1);

    }else if(gamepad1.left_bumper) {
        motor5.setPower(-1);
        motor6.setPower(-1);
        leftcr.setPosition(-1);
        rightcr.setPosition(-1);
    }else{
        motor5.setPower(0);
        motor6.setPower(0);
        leftcr.setPosition(0);
        rightcr.setPosition(0);
    }
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void loop() {
    double left;
    double right;

    // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
    left = -gamepad1.left_stick_y;
    right = -gamepad1.right_stick_y;
    robot.leftMotor.setPower(left);
    robot.rightMotor.setPower(right);

    // Use gamepad left & right Bumpers to open and close the claw
    if (gamepad1.right_bumper)
        clawOffset += CLAW_SPEED;
    else if (gamepad1.left_bumper)
        clawOffset -= CLAW_SPEED;

    // Move both servos to new position.  Assume servos are mirror image of each other.
    clawOffset = Range.clip(clawOffset, -0.5, 0.5);
    robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
    robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);

    // Use gamepad buttons to move the arm up (Y) and down (A)
    if (gamepad1.y)
        robot.armMotor.setPower(robot.ARM_UP_POWER);
    else if (gamepad1.a)
        robot.armMotor.setPower(robot.ARM_DOWN_POWER);
    else
        robot.armMotor.setPower(0.0);

    // Send telemetry message to signify robot running;
    telemetry.addData("claw",  "Offset = %.2f", clawOffset);
    telemetry.addData("left",  "%.2f", left);
    telemetry.addData("right", "%.2f", right);
    updateTelemetry(telemetry);
}
 

import com.qualcomm.robotcore.util.Range; //导入依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {
    irSeeker = hardwareMap.irSeekerSensor.get("sensor_ir");
    leftMotor = hardwareMap.dcMotor.get("left_drive");
    rightMotor = hardwareMap.dcMotor.get("right_drive");
    rightMotor.setDirection(DcMotor.Direction.REVERSE);

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

    // Continuously track the IR beacon
    while(opModeIsActive()) {
        double angle = irSeeker.getAngle() / 30;  // value between -4...4
        double strength = irSeeker.getStrength();
        if (strength>kMinimumStrength && strength<kMaximumStrength) {
            double leftSpeed = Range.clip(kBaseSpeed + (angle / 8), -1, 1);
            double rightSpeed = Range.clip(kBaseSpeed - (angle / 8), -1, 1);
            leftMotor.setPower(leftSpeed);
            rightMotor.setPower(rightSpeed);
        } else {
            leftMotor.setPower(0);
            rightMotor.setPower(0);
        }
        telemetry.addData("Seeker", irSeeker.toString());
        telemetry.addData("Speed", " Left=" + leftMotor.getPower() + " Right=" + rightMotor.getPower());

        //Wait one hardware cycle to avoid taxing the processor
        waitOneFullHardwareCycle();
    }

}