Java EV3MediumRegulatedMotor类代码示例

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
private void initRegulatedMotor(ActorPort actorPort, Actor actorType, Port hardwarePort) {
    this.lcd.clear();
    // Hal.formatInfoMessage("Initializing motor on port " + actorPort, this.lcd);
    switch ( actorType.getName() ) {
        case LARGE:
            this.lejosRegulatedMotors.put(actorPort, new EV3LargeRegulatedMotor(hardwarePort));
            break;
        case MEDIUM:
            this.lejosRegulatedMotors.put(actorPort, new EV3MediumRegulatedMotor(hardwarePort));
            break;
        case REGULATED:
            this.lejosRegulatedMotors.put(actorPort, new NXTRegulatedMotor(hardwarePort));
            break;
        default:
            throw new DbcException("Actor type " + actorType.getName() + " does not exists!");
    }
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
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();
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
	log.info("Initializing...");
	LCD.clear();
	disableOtherLogLayers();
	LCD.clear();
	Button.setKeyClickVolume(1);
	SystemTime.initSysTime();
	ClockProperties clockProperties = ClockProperties.getInstance();
	AnalogClock clock = new AnalogClock(clockProperties, new TickPeriod(5,
			TimeUnit.SECONDS), new Time(0, 20),
			MirrorMotor
					.invertMotor(new EV3MediumRegulatedMotor(MotorPort.A)),
			MirrorMotor
					.invertMotor(new EV3LargeRegulatedMotor(MotorPort.B)));
	MainWithMenu mainWithMenu = new MainWithMenu(clock);
	log.info("Ready");
	Sound.beep();
	mainWithMenu.start();
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public void handleMotorMessage(Object msg) {
	if(msg instanceof RegulatedMotorMessages.RotateMessage){
		((EV3MediumRegulatedMotor) motor).rotate(((RegulatedMotorMessages.RotateMessage)msg).getAngle());
		return;
	}
	
	if(msg instanceof RegulatedMotorMessages.RotateToMessage){
		((EV3MediumRegulatedMotor) motor).rotateTo(((RegulatedMotorMessages.RotateToMessage)msg).getAngle());
		return;			
	}
	
	if (msg instanceof RegulatedMotorMessages.ForwardMsg) {
		
		motor.forward();
		return;
	}
	if (msg instanceof RegulatedMotorMessages.BackwardMsg) {
		motor.backward();
		return;
	}
	if (msg instanceof RegulatedMotorMessages.StopMsg) {
		motor.stop();
		return;
	}
	if (msg instanceof RegulatedMotorMessages.SetSpeedMsg) {
		((EV3MediumRegulatedMotor) motor).setSpeed(((RegulatedMotorMessages.SetSpeedMsg) msg).getSpeed());
		return;
	}
	// Drop packet otherwise
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
@Override
public void handleMotorMessage(Object msg) {
    if(msg instanceof RegulatedMotorMessages.RotateMessage){
        ((EV3MediumRegulatedMotor) motor).rotate(((RegulatedMotorMessages.RotateMessage)msg).getAngle());
        return;
    }

    if(msg instanceof RegulatedMotorMessages.RotateToMessage){
        ((EV3MediumRegulatedMotor) motor).rotateTo(((RegulatedMotorMessages.RotateToMessage)msg).getAngle());
        return;
    }

    if (msg instanceof RegulatedMotorMessages.ForwardMsg) {
        motor.forward();
        return;
    }
    if (msg instanceof RegulatedMotorMessages.BackwardMsg) {
        motor.backward();
        return;
    }
    if (msg instanceof RegulatedMotorMessages.StopMsg) {
        motor.stop();
        return;
    }
    if (msg instanceof RegulatedMotorMessages.SetSpeedMsg) {
        ((EV3MediumRegulatedMotor) motor).setSpeed(((RegulatedMotorMessages.SetSpeedMsg) msg).getSpeed());
        return;
    }
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
    LCD.drawString("Hello world", 2, 3);
    Button.waitForAnyPress();
    EV3MediumRegulatedMotor ev3MediumRegulatedMotor = new EV3MediumRegulatedMotor(MotorPort.C);
    resetSmallEngine(ev3MediumRegulatedMotor);
    grab(ev3MediumRegulatedMotor);
    LCD.drawString("Position: " + ev3MediumRegulatedMotor.getPosition(), 2, 3);
    resetSmallEngine(ev3MediumRegulatedMotor);

    Button.waitForAnyPress();
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public Canon(Port canonEnginePort, Port rotationEnginePort) {
    canonEngine = new EV3MediumRegulatedMotor(canonEnginePort);
    rotationEngine = new EV3LargeRegulatedMotor(rotationEnginePort);
    resetEngine(canonEngine);
    resetEngine(rotationEngine);

}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public static synchronized Motor mediumMotor(Port port) {
    Motor motor = mediumMotor.get(port);
    if (motor == null) {
        motor = new Motor(new EV3MediumRegulatedMotor(port.getPort()));
        mediumMotor.put(port, motor);
    }
    return motor;
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
/**
 * Instantiates the cannon-motor, optionally skips calibration
 * @param skipMotorCannonCalibration
 * @return
 */
private EV3MediumRegulatedMotor instantiateMotorCannon(
    boolean skipMotorCannonCalibration) {
  if (!skipMotorCannonCalibration) {
    calibrateMotorCannon();
  }
  EV3MediumRegulatedMotor motor = new EV3MediumRegulatedMotor(MotorPort.C);
  if (!skipMotorCannonCalibration) {
    motor.rotate(-360);
  }
  return motor;
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
@Override
protected BaseMotor createMotor(Port motorPort){
	return new EV3MediumRegulatedMotor(motorPort);
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
@Override
public void close() {
	((EV3MediumRegulatedMotor)motor).close();;
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
private static void grab(EV3MediumRegulatedMotor ev3MediumRegulatedMotor){
    ev3MediumRegulatedMotor.setStallThreshold(2, 10);
    ev3MediumRegulatedMotor.setSpeed(1000);
    ev3MediumRegulatedMotor.rotate(-500, false);
    ev3MediumRegulatedMotor.waitComplete();
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public Canon(Port port){
    canonEngine = new EV3MediumRegulatedMotor(port);
    resetMotor();
    fire();

}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
private static void resetSmallEngine(EV3MediumRegulatedMotor ev3MediumRegulatedMotor){
    ev3MediumRegulatedMotor.setStallThreshold(2, 10);
    ev3MediumRegulatedMotor.setSpeed(500);
    ev3MediumRegulatedMotor.rotate(500, false);
    ev3MediumRegulatedMotor.waitComplete();
}
 

import lejos.hardware.motor.EV3MediumRegulatedMotor; //导入依赖的package包/类
public SimpleEV3MediumMotor(Port port) {
  super(port, new EV3MediumRegulatedMotor(port));
}