Java RegulatedMotor类代码示例

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
private void motorGo(RegulatedMotor regulatedMotor, int power) {
    if (regulatedMotor != null) {

        Log.d(TAG, "motorGo " + power);

        if (power > 0) {
            regulatedMotor.setSpeed(power);
            regulatedMotor.forward();
        } else if (power == 0) {
            stopMotor(regulatedMotor);
        } else {
            regulatedMotor.setSpeed(Math.abs(power));
            regulatedMotor.backward();
        }
    }
}
 

import lejos.robotics.RegulatedMotor; //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.robotics.RegulatedMotor; //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();
		
		RegulatedMotor m = new EV3LargeRegulatedMotor(MotorPort.A);
		m.resetTachoCount();
		
		m.rotateTo(-40);
		int angle = m.getTachoCount(); // should be 760
		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
	
//		m.rotateTo(0);
//		angle = m.getTachoCount(); // should be 0
//		lcd.drawInt(angle, 0, 1);
//		keys.waitForAnyPress(); // wait for a button press
		
		m.close();
	}
 

import lejos.robotics.RegulatedMotor; //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();

	// lcd.drawString("Hello Trayan", 4, 2);
	// lcd.drawString("from leJOS", 4, 3);

	// Move forward
	RegulatedMotor mB = new EV3LargeRegulatedMotor(MotorPort.B);
	RegulatedMotor mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mB.synchronizeWith(new RegulatedMotor[] { mC });

	mB.startSynchronization();
	mB.forward();
	mC.forward();
	mB.endSynchronization();

	Delay.msDelay(3000);
	mB.startSynchronization();
	mB.stop();
	mC.stop();
	mB.endSynchronization();

	// keys.waitForAnyPress(5000);
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
public void run() {
		lcd.drawString("Hello Trayan", 4, 2);
		lcd.drawString("from leJOS", 4, 3);

		// config motors
		mB.setSpeed(900); // Degree per second
		mC.setSpeed(900);
		mB.synchronizeWith(new RegulatedMotor[] { mC });
		
//		for (int i = 0; i < 4; i++) {
//			moveForward(2000); //2s
//			turnLeft(520);
//		}
		moveBackward(2000); //2s

	}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
/**
	 * Instantiates a new omnidirectional pilot.
	 * This class also keeps track of the odometry
	 * Express the distances in the units you prefer (mm, in, cm ...)
	 * 
	 * @param wheelDistanceFromCenter the wheel distance from center
	 * @param wheelDiameter the wheel diameter 
	 * @param centralMotor the central motor
	 * @param CW120degMotor the motor at 120 degrees clockwise from front
	 * @param CCW120degMotor the motor at 120 degrees counter-clockwise from front
	 * @param centralWheelFrontal if true, the central wheel frontal else it is facing back
	 * @param motorReverse if motors are mounted reversed
	 */
	public OmniPilot (float wheelDistanceFromCenter, float wheelDiameter, 
					RegulatedMotor centralMotor, RegulatedMotor CW120degMotor, RegulatedMotor CCW120degMotor,  
					boolean centralWheelFrontal, boolean motorReverse,
					Battery battery) {
		this.wheelBase = wheelDistanceFromCenter;
		this.wheelDiameter = wheelDiameter;
		this.motor1 = centralMotor;
		this.motor2 = CCW120degMotor;
		this.motor3 = CW120degMotor;
		this.battery = battery;
		motor1.addListener(this);
		motor2.addListener(this);
		motor3.addListener(this);
		initMatrices(centralWheelFrontal, motorReverse);
	    odo.setDaemon(true);
//	    odo.setPriority(6);
	    odo.start();
	}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
@Override
public void action() {
    suppressed = false;

    RegulatedMotor leftMotor = grabBot.getLeft();
    RegulatedMotor rightMotor = grabBot.getRight();
    leftMotor.synchronizeWith(new RegulatedMotor[]{rightMotor});
    leftMotor.forward();
    rightMotor.forward();
    while( !suppressed ) {
        Thread.yield();
    }
    leftMotor.stop(); // clean up
    rightMotor.stop();
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
@Override
public void action() {
    suppressed = false;
    RegulatedMotor leftMotor = grabBot.getLeft();
    RegulatedMotor rightMotor = grabBot.getRight();

    leftMotor.rotate(-180, true);
    rightMotor.rotate(-360, true);

    while( (leftMotor.isMoving() || rightMotor.isMoving()) && !suppressed )
        Thread.yield();

    leftMotor.stop(); // clean up
    rightMotor.stop();
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
/**
 * Get regulated motor connected on port ({@link ActorPort})
 *
 * @exception DbcException if regulated motor does not exist
 * @param actorPort on which the motor is connected
 * @return regulate motor
 */
public RegulatedMotor getRegulatedMotor(ActorPort actorPort) {
    RegulatedMotor motor = this.lejosRegulatedMotors.get(actorPort);
    if ( motor == null ) {
        throw new DbcException("No regulated motor on port " + actorPort + "!");
    }
    return motor;
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
public LineFollower01() {
	mA = new EV3LargeRegulatedMotor(MotorPort.A);
	mB = new EV3LargeRegulatedMotor(MotorPort.B);
	mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mB.setSpeed(120);// 2 RPM
	mC.setSpeed(120);
	mB.synchronizeWith(new RegulatedMotor[] { mC });
	color = colorSensor.getRGBMode();
	colorSample = new float[color.sampleSize()];
	touch = touchSensor.getTouchMode();
	sample = new float[touch.sampleSize()];
}
 

import lejos.robotics.RegulatedMotor; //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();

	// lcd.drawString("Hello Trayan", 4, 2);
	// lcd.drawString("from leJOS", 4, 3);

	// Open clow
	RegulatedMotor mA = new EV3LargeRegulatedMotor(MotorPort.A);

	while (true) {
		mA.resetTachoCount();
		lcd.drawString("Up - Close", 4, 2);
		lcd.drawString("Down - Open", 4, 3);
		lcd.drawString("Escape - Exit", 4, 4);

		// Simple menu
		keys.waitForAnyPress(60000);
		int maRotation = 0;
		if (Button.DOWN.isDown()) {
			maRotation = -620;
		} else if (Button.UP.isDown()) {
			maRotation = 620;
		}
		if (Button.ESCAPE.isDown()) {
			System.exit(0);
		}

		mA.rotateTo(maRotation, false);
		int count = mA.getTachoCount();
		lcd.drawString("Tacho: " + count, 0, 2);
	}

}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
/**
 * Utility method to get Motor instance from string (A, B or C)
 */
public static RegulatedMotor getMotor(String motor)
{
	if (motor.equals("A"))
		return Motor.A;
	else if (motor.equals("B"))
		return Motor.B;
	else if (motor.equals("C"))
		return Motor.C;
       else if (motor.equals("D"))
           return Motor.D;
	else
		return null;
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
public Cuckoo(RegulatedMotor cuckooMotor, Time tickTime,
		ClockProperties clockProperties) {
	this.cuckooMotor = cuckooMotor;
	this.tickTime = tickTime;
	this.clockProperties = clockProperties;
	cuckooMotor.setAcceleration(400);
	cuckooMotor.setSpeed(CUCKOO_SPEED);
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
public void rotationStarted(RegulatedMotor motor, int tachoCount, boolean stall, long timeStamp) {
	isMoving = true;
	oldTacho = tachoCount;
	
	// Notify MoveListener
	if(listener != null) {
		listener.moveStarted(moveEvent, this);
	}
}
 

import lejos.robotics.RegulatedMotor; //导入依赖的package包/类
public void rotationStopped(RegulatedMotor motor, int tachoCount,boolean stall, long timeStamp) {
	isMoving = false;
	int tachoTotal = tachoCount - oldTacho ;
	float distance = (float)((tachoTotal/360f) * Math.PI * driveWheelDiameter);
	
	float angle = Move.convertDistanceToAngle(distance, moveEvent.getArcRadius()); 
	
	moveEvent = new Move(distance ,angle, isMoving);
	
	// Notify MoveListener
	if(listener != null) {
		listener.moveStopped(moveEvent, this);
	}
	
}