Java DcMotorController.RunMode方法代码示例

import com.qualcomm.robotcore.hardware.DcMotorController; //导入方法依赖的package包/类
public static byte modeToByte(DcMotorController.RunMode mode) {
    switch (mode) {
        default:
        case RUN_WITHOUT_ENCODERS:
            return 0;
        case RUN_USING_ENCODERS:
            return 1;
        case RUN_TO_POSITION:
            return 2;
        case RESET_ENCODERS:
            return 3;
    }
}
 

import com.qualcomm.robotcore.hardware.DcMotorController; //导入方法依赖的package包/类
public static DcMotorController.RunMode modeFromByte(byte b) {
    switch (b & 3) {
        default:
        case 0:
            return DcMotorController.RunMode.RUN_WITHOUT_ENCODERS;
        case 1:
            return DcMotorController.RunMode.RUN_USING_ENCODERS;
        case 2:
            return DcMotorController.RunMode.RUN_TO_POSITION;
        case 3:
            return DcMotorController.RunMode.RESET_ENCODERS;
    }
}
 

import com.qualcomm.robotcore.hardware.DcMotorController; //导入方法依赖的package包/类
@Override
public synchronized void setMotorChannelMode(int motor, DcMotorController.RunMode mode) {
    this.validateMotor(motor);
    byte bNewMode = modeToByte(mode);

    // We write the whole byte, but only the lower five bits are actually writable
    // and we only ever use the lowest two as non zero.
    this.write8(mpMotorRegMotorMode[motor], bNewMode);

    // If the mode is 'reset encoders', we don't want to return until the encoders have actually reset
    //      http://ftcforum.usfirst.org/showthread.php?4924-Use-of-RUN_TO_POSITION-in-LineraOpMode&highlight=reset+encoders
    //      http://ftcforum.usfirst.org/showthread.php?4567-Using-and-resetting-encoders-in-MIT-AI&p=19303&viewfull=1#post19303
    // For us, here, we believe we'll always *immediately* have that be true, as our writes
    // to the I2C device actually happen when we issue them.
    //
    // Or, at least, insofar as anything is actually *observable*: the write will be issued
    // ahead of any subsequent reads or writes. Thus, the assertTrue here would never fire,
    // since the getMotorCurrentPosition() would follow the write and see its effect. However,
    // having the assert does unnecessarily slow things down. We'll keep it for a while, then
    // probably comment it out.
    //
    if (mode == RunMode.RUN_TO_POSITION) {
        // Enforce that in RUN_TO_POSITION, we always need *positive* power. DCMotor will
        // take care of that if we set power *after* we set the mode, but not the other way
        // around. So we handle that here.
        //
        // Unclear that this is needed. The motor controller might take the absolute value automatically
        double power = getMotorPower(motor);
        if (power < 0)
            setMotorPower(motor, Math.abs(power));
    }
}
 

import com.qualcomm.robotcore.hardware.DcMotorController; //导入方法依赖的package包/类
@Override
public synchronized DcMotorController.RunMode getMotorChannelMode(int motor) {
    this.validateMotor(motor);
    byte b = this.i2cDeviceClient.read8(mpMotorRegMotorMode[motor]);
    return modeFromByte(b);
}
 

import com.qualcomm.robotcore.hardware.DcMotorController; //导入方法依赖的package包/类
@Override
public synchronized void setMotorChannelMode(int motor, DcMotorController.RunMode mode) {
    this.validateMotor(motor);
    byte bNewMode = modeToByte(mode);

    // We write the whole byte, but only the lower five bits are actually writable
    // and we only ever use the lowest two as non zero.
    this.write8(mpMotorRegMotorMode[motor], bNewMode);

    // The mode switch doesn't happen instantaneously. Wait for it,
    // so that the programmer's model is that he just needs to set the
    // mode and be done.
    for (; ; ) {
        byte bCurrentMode = this.i2cDeviceClient.read8(mpMotorRegMotorMode[motor]);
        if (bCurrentMode == bNewMode)
            break;
        Thread.yield();
    }

    // If the mode is 'reset encoders', we don't want to return until the encoders have actually reset
    //      http://ftcforum.usfirst.org/showthread.php?4924-Use-of-RUN_TO_POSITION-in-LineraOpMode&highlight=reset+encoders
    //      http://ftcforum.usfirst.org/showthread.php?4567-Using-and-resetting-encoders-in-MIT-AI&p=19303&viewfull=1#post19303
    // For us, here, we believe we'll always *immediately* have that be true, as our writes
    // to the I2C device actually happen when we issue them.
    //
    // Or, at least, insofar as anything is actually *observable*: the write will be issued
    // ahead of any subsequent reads or writes. Thus, the assertTrue here would never fire,
    // since the getMotorCurrentPosition() would follow the write and see its effect. However,
    // having the assert does unnecessarily slow things down. We'll keep it for a while, then
    // probably comment it out.
    //
    if (mode == RunMode.RESET_ENCODERS) {
        // Unclear if this is needed
        while (this.getMotorTargetPosition(motor) != 0) {
            Thread.yield();
        }
    } else if (mode == RunMode.RUN_TO_POSITION) {
        // Enforce that in RUN_TO_POSITION, we always need *positive* power. DCMotor will
        // take care of that if we set power *after* we set the mode, but not the other way
        // around. So we handle that here.
        //
        // Unclear that this is needed. The motor controller might take the absolute value automatically
        double power = getMotorPower(motor);
        if (power < 0)
            setMotorPower(motor, Math.abs(power));
    }
}