Java GyroSensor.isCalibrating方法代码示例

import com.qualcomm.robotcore.hardware.GyroSensor; //导入方法依赖的package包/类
/**
 * @param stateName     the name of the state
 * @param nextStateName the name of the next state
 * @param gyro          the gyro sensor to be calibrated
 * @return the created State
 * @see GyroSensor
 */
public static State calibrateGyro(StateName stateName, final StateName nextStateName, final GyroSensor gyro) {
    gyro.calibrate();
    return new BasicAbstractState(stateName) {
        @Override
        public void init() {
        }

        @Override
        public boolean isDone() {
            return !gyro.isCalibrating();
        }

        @Override
        public StateName getNextStateName() {
            return nextStateName;
        }
    };
}
 

import com.qualcomm.robotcore.hardware.GyroSensor; //导入方法依赖的package包/类
/**
 * Display whether or not a gyro sensor is calibrated on the telemetry screen
 *
 * @param gyro the gyro sensor
 */
public static void displayGyroIsCalibrated(GyroSensor gyro) {
    if (gyro.isCalibrating()) {
        telemetry.addData("Gyro state", "CALIBRATING");
    } else {
        telemetry.addData("Gyro state", "ready");
    }
}
 

import com.qualcomm.robotcore.hardware.GyroSensor; //导入方法依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {

  GyroSensor sensorGyro;
  int xVal, yVal, zVal = 0;
  int heading = 0;

  // write some device information (connection info, name and type)
  // to the log file.
  hardwareMap.logDevices();

  // get a reference to our GyroSensor object.
  sensorGyro = hardwareMap.gyroSensor.get("gyro");

  // calibrate the gyro.
  sensorGyro.calibrate();

  // wait for the start button to be pressed.
  waitForStart();

  // make sure the gyro is calibrated.
  while (sensorGyro.isCalibrating())  {
    Thread.sleep(50);
  }

  while (opModeIsActive())  {
    // if the A and B buttons are pressed, reset Z heading.
    if(gamepad1.a && gamepad1.b)  {
      // reset heading.
      sensorGyro.resetZAxisIntegrator();
    }

    // get the x, y, and z values (rate of change of angle).
    xVal = sensorGyro.rawX();
    yVal = sensorGyro.rawY();
    zVal = sensorGyro.rawZ();

    // get the heading info.
    // the Modern Robotics' gyro sensor keeps
    // track of the current heading for the Z axis only.
    heading = sensorGyro.getHeading();

    telemetry.addData("1. x", String.format("%03d", xVal));
    telemetry.addData("2. y", String.format("%03d", yVal));
    telemetry.addData("3. z", String.format("%03d", zVal));
    telemetry.addData("4. h", String.format("%03d", heading));

    Thread.sleep(100);
  }
}
 

import com.qualcomm.robotcore.hardware.GyroSensor; //导入方法依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {

    GyroSensor sensorGyro;
    int xVal, yVal, zVal = 0;
    int heading = 0;

    // write some device information (connection info, name and type)
    // to the log file.
    hardwareMap.logDevices();

    // get a reference to our GyroSensor object.
    sensorGyro = hardwareMap.gyroSensor.get("gyro");

    // calibrate the gyro.
    sensorGyro.calibrate();

    // wait for the start button to be pressed.
    waitForStart();

    // make sure the gyro is calibrated.
    while (sensorGyro.isCalibrating()) {
        Thread.sleep(50);
    }

    while (opModeIsActive()) {
        // if the A and B buttons are pressed, reset Z heading.
        if (gamepad1.a && gamepad1.b) {
            // reset heading.
            sensorGyro.resetZAxisIntegrator();
        }

        // get the x, y, and z values (rate of change of angle).
        xVal = sensorGyro.rawX();
        yVal = sensorGyro.rawY();
        zVal = sensorGyro.rawZ();

        // get the heading info.
        // the Modern Robotics' gyro sensor keeps
        // track of the current heading for the Z axis only.
        heading = sensorGyro.getHeading();

        telemetry.addData("1. x", String.format("%03d", xVal));
        telemetry.addData("2. y", String.format("%03d", yVal));
        telemetry.addData("3. z", String.format("%03d", zVal));
        telemetry.addData("4. h", String.format("%03d", heading));

        Thread.sleep(100);
    }
}