Java DcMotor.setMode方法代码示例

import com.qualcomm.robotcore.hardware.DcMotor; //导入方法依赖的package包/类
/**
     * Initializes all drive and ball motors in NO ENCODERS mode
     * @param hwMap
     */
    public void initTeleOp(HardwareMap hwMap) {
        this.hwMap = hwMap;
        initDrive();
        initBall();
//        initCap();
//        initServos();

        for(DcMotor driveMotor : driveMotors) {
            driveMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
            driveMotor.setDirection(DcMotorSimple.Direction.FORWARD);
            driveMotor.setPower(0);
        }
        for(DcMotor ballMotor : ballMotors) {
            ballMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            ballMotor.setDirection(DcMotorSimple.Direction.FORWARD);
            ballMotor.setPower(0);
        }
//        cap.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//        cap.setDirection(DcMotorSimple.Direction.FORWARD);
//        cap.setPower(0);
    }
 

import com.qualcomm.robotcore.hardware.DcMotor; //导入方法依赖的package包/类
public DriveTrain(ExtensibleGamepad controlGamepad, DcMotor leftFront, DcMotor rightFront, DcMotor leftRear, DcMotor rightRear) {
    this.leftFront = leftFront;
    this.rightFront = rightFront;
    this.leftRear = leftRear;
    this.rightRear = rightRear;
    rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
    rightRear.setDirection(DcMotorSimple.Direction.REVERSE);

    leftFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
    rightFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
    leftFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
    rightFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

    this.controlGamepad = controlGamepad;
    //this.drive = drive;

    disableMap = new double[4];

    for (int i = 0; i < disableMap.length; i++) {
        disableMap[i] = 1;
    }
}
 

import com.qualcomm.robotcore.hardware.DcMotor; //导入方法依赖的package包/类
/**
     * Initializes all drive and ball motors in USING ENCODERS mode
     * @param hwMap
     */
    public void initAutoOp(LinearOpMode opMode, HardwareMap hwMap) {
        this.hwMap = hwMap;

        initDrive();
        initBall();
//        initCap();
//        initServos();
//        initSensors();

        for(DcMotor driveMotor : driveMotors) {
            driveMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
            opMode.idle();
            driveMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            driveMotor.setDirection(DcMotorSimple.Direction.FORWARD);
            driveMotor.setPower(0);
        }
        for(DcMotor ballMotor : ballMotors) {
            ballMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
            opMode.idle();
            ballMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            ballMotor.setDirection(DcMotorSimple.Direction.FORWARD);
            ballMotor.setPower(0);
        }
//        cap.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//        cap.setDirection(DcMotorSimple.Direction.FORWARD);
//        cap.setPower(0);
    }
 

import com.qualcomm.robotcore.hardware.DcMotor; //导入方法依赖的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.hardware.DcMotor; //导入方法依赖的package包/类
/**
 * Initialize a dcMotor by setting parameters and checking that they were set properly
 *
 * @param dcMotor  the motor to initialize
 * @param reversed whether or not the motor direction should be reversed
 * @param brake    whether to brake or float when stopping
 * @param runMode  what mode to start the motor in
 */
private static void dcMotorInit(DcMotor dcMotor, boolean reversed, boolean brake, DcMotor.RunMode runMode) {
    //reset the encoder position to zero
    do {
        dcMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
    } while (dcMotor.getMode() != DcMotor.RunMode.STOP_AND_RESET_ENCODER);

    //determine the motor's direction as a Direction object
    DcMotor.Direction direction;
    if (reversed) {
        direction = DcMotorSimple.Direction.REVERSE;
    } else {
        direction = DcMotorSimple.Direction.FORWARD;
    }

    //set the motor's direction
    do {
        dcMotor.setDirection(direction);
    } while (dcMotor.getDirection() != direction);

    //set the motor's mode
    do {
        dcMotor.setMode(runMode);
    } while (dcMotor.getMode() != runMode);

    //determine the ZeroPowerBehavior
    DcMotor.ZeroPowerBehavior zeroPowerBehavior;
    if (brake) {
        zeroPowerBehavior = DcMotor.ZeroPowerBehavior.BRAKE;
    } else {
        zeroPowerBehavior = DcMotor.ZeroPowerBehavior.FLOAT;
    }

    //set the motor's ZeroPowerBehavior
    do {
        dcMotor.setZeroPowerBehavior(zeroPowerBehavior);
    } while (dcMotor.getZeroPowerBehavior() != zeroPowerBehavior);
}
 

import com.qualcomm.robotcore.hardware.DcMotor; //导入方法依赖的package包/类
public void setDriveMotorMode(DcMotor.RunMode mode) {
    for (DcMotor motor : driveMotors) {
        motor.setMode(mode);
    }
}
 

import com.qualcomm.robotcore.hardware.DcMotor; //导入方法依赖的package包/类
public final void setWheelsToRunMode(DcMotor.RunMode runMode) {
    Preconditions.checkState(isWheelsStopped(), "Should not change run mode without stopping wheels first");
    for (DcMotor motor : getWheels()) {
        motor.setMode(runMode);
    }
}