Java EV3TouchSensor类代码示例

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
public static void main(String[] args) {
		EV3 ev3 = (EV3) BrickFinder.getLocal();
		TextLCD lcd = ev3.getTextLCD();
		Keys keys = ev3.getKeys();
		
		EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1);
		SensorMode touch = touchSensor.getTouchMode();
		float[] sample = new float[touch.sampleSize()];
		
		RegulatedMotor m = new EV3LargeRegulatedMotor(MotorPort.A);
		m.resetTachoCount();
		
		m.rotateTo(320, true);
		
//		int angle = m.getTachoCount(); // should be -360
//		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
		
//		m.rotateTo(-100, true);
//		do{
//			touch.fetchSample(sample, 0);
//		} while (sample[0] == 0);
		
		while (m.isMoving())
			Thread.yield();
		m.stop();	
		
		int angle = m.getTachoCount(); // should be < -100
		lcd.drawInt(angle, 0, 1);
//		keys.waitForAnyPress();
	}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private GrabBot(){
    left = new EV3LargeRegulatedMotor(MotorPort.A);
    right = new EV3LargeRegulatedMotor(MotorPort.B);
    touch = new EV3TouchSensor(SensorPort.S1);

    arbitrator = new Arbitrator(new Behavior[]{forward, hit});
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private GrabBot(){
    left = new EV3LargeRegulatedMotor(MotorPort.A);
    right = new EV3LargeRegulatedMotor(MotorPort.B);
    touch = new EV3TouchSensor(SensorPort.S1);

    Behavior forward = new ForwardBehavior(this);
    Behavior hit = new ObstacleBehavior(this);
    arbitrator = new Arbitrator(new Behavior[]{forward, hit});
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private void initSensor(SensorPort sensorPort, Sensor sensorType, Port hardwarePort) {
    if ( sensorType != null && isUsed(sensorType) ) {
        this.lcd.clear();
        // Hal.formatInfoMessage("Initializing " + sensorType.getComponentType().getShortName() + " on port " + sensorPort + " ...", this.lcd);
        switch ( sensorType.getType() ) {
            case COLOR:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3ColorSensor(hardwarePort)));
                break;
            case INFRARED:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3IRSensor(hardwarePort)));
                break;
            case GYRO:
                this.gyroSensor = new EV3GyroSensor(hardwarePort);
                this.lejosSensors.put(sensorPort, sensorSampleProviders(this.gyroSensor));
                break;
            case TOUCH:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3TouchSensor(hardwarePort)));
                break;
            case ULTRASONIC:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3UltrasonicSensor(hardwarePort)));
                break;
            case COMPASS_HI_TEC:
                this.hiTechnicCompass = new HiTechnicCompass(hardwarePort);
                this.lejosSensors.put(sensorPort, sensorSampleProviders(this.hiTechnicCompass));
                break;
            case SOUND:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new NXTSoundSensor(hardwarePort)));
                break;
            default:
                throw new DbcException("Sensor type " + sensorType.getType() + " does not exists!");
        }
    }
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
public SimpleEV3TouchSensor(Port port) {
  delegate = new EV3TouchSensor(port);
  logger = SensorMonitorFactory.getLogger(port);
  // Touch mode
  touchMode = delegate.getTouchMode();
  touchSample = new float[touchMode.sampleSize()];
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
void setupSensors() {
    logger.trace("setupSensors");
    leftTouch = new EV3TouchSensor(SensorPort.S1);
    rightTouch = new EV3TouchSensor(SensorPort.S4);

    distance = new EV3UltrasonicSensor(SensorPort.S2);
    distance.enable();
    distanceSampler = distance.getDistanceMode();
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private EV3TouchSensor createSensor(Port port) {
    return new EV3TouchSensor(port);
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private EV3TouchSensor createSensor(Port port) {
    System.out.println("Create LeJOS sensor");
    return new EV3TouchSensor(port);
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private void closeSensor(EV3TouchSensor sensor) {
    System.out.println("Close LeJOS sensor");
    sensor.close();
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
public EV3TouchSensor getTouch() {
    return touch;
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
private EV3TouchSensor createSensor(Port port) {
    System.out.println("Create LeJOS sensor");
    return new EV3TouchSensor(port.getPort());
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
public static void main(String[] args) {
	EV3 ev3 = (EV3) BrickFinder.getLocal();
	TextLCD lcd = ev3.getTextLCD();
	Keys keys = ev3.getKeys();
	
	EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1);
	SensorMode touch = touchSensor.getTouchMode();
	float[] sample = new float[touch.sampleSize()];
	
	RegulatedMotor mA = new EV3LargeRegulatedMotor(MotorPort.A);
	RegulatedMotor mB = new EV3LargeRegulatedMotor(MotorPort.B);
	RegulatedMotor mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mA.resetTachoCount();
	mB.resetTachoCount();
	mC.resetTachoCount();
	
	mA.rotateTo(760);
	int angle = mA.getTachoCount(); // should be -360
	lcd.drawInt(angle, 0, 0);
	keys.waitForAnyPress();
	
	mB.setSpeed(720);// 2 RPM
	mC.setSpeed(720);
	mB.forward();
	mC.forward();
	Delay.msDelay(1000);
	mB.stop();
	mC.stop();
	mB.rotateTo(360);
	mB.rotate(-720, true);
	while (mB.isMoving())
		Thread.yield();
	angle = mB.getTachoCount(); 
	lcd.drawInt(angle, 0, 1);
	
	mA.rotateTo(-100, true);
	do{
		touch.fetchSample(sample, 0);
	} while (mA.isMoving() && sample[0] == 0);
	mA.stop();	
	
	angle = mA.getTachoCount(); // should be -360
	lcd.drawInt(angle, 0, 2);
	keys.waitForAnyPress();
}
 

import lejos.hardware.sensor.EV3TouchSensor; //导入依赖的package包/类
public TRAC3RsArm() {
	

	System.out.println("Setting up Touch Sensor 1...");
	touchSensor1 = new EV3TouchSensor(LocalEV3.get().getPort(touchSensorPortName1));

	System.out.println("Setting up Touch Sensor 2...");
	touchSensor2 = new EV3TouchSensor(LocalEV3.get().getPort(touchSensorPortName2));

	System.out.println("Setting up Motor 1...");
	motor1 = new EV3LargeRegulatedMotor(motorPort1);
	motor1.rotateTo(0);

	System.out.println("Setting up Motor 2...");
	motor2 = new EV3LargeRegulatedMotor(motorPort2);
	motor2.rotateTo(0);

	System.out.println("Setting up Motor 3...");
	motor3 = new EV3MediumRegulatedMotor(motorPort3);
	motor3.rotateTo(0);	

}