Java ElapsedTime.reset方法代码示例

import com.qualcomm.robotcore.util.ElapsedTime; //导入方法依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 */
public void gyroHold( double speed, double angle, double holdTime) {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
    }

    // Stop all motion;
    robot.leftMotor.setPower(0);
    robot.rightMotor.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入方法依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 */
public void gyroHold( double speed, double angle, double holdTime) {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
    }

    // Stop all motion;
    robot.leftDrive.setPower(0);
    robot.rightDrive.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入方法依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 * @throws InterruptedException
 */
public void gyroHold( double speed, double angle, double holdTime)
                        throws InterruptedException {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
        idle();
    }

    // Stop all motion;
    robot.leftMotor.setPower(0);
    robot.rightMotor.setPower(0);
}
 

import com.qualcomm.robotcore.util.ElapsedTime; //导入方法依赖的package包/类
/**
 *  Method to obtain & hold a heading for a finite amount of time
 *  Move will stop once the requested time has elapsed
 *
 * @param speed      Desired speed of turn.
 * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
 *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
 *                   If a relative angle is required, add/subtract from current heading.
 * @param holdTime   Length of time (in seconds) to hold the specified heading.
 */
public void gyroHold(double speed, double angle, double holdTime) {

    ElapsedTime holdTimer = new ElapsedTime();

    // keep looping while we have time remaining.
    holdTimer.reset();
    while (opModeIsActive() && (holdTimer.time() < holdTime)) {
        // Update telemetry & Allow time for other processes to run.
        onHeading(speed, angle, P_TURN_COEFF);
        telemetry.update();
    }

    // Stop all motion;
    robot.leftMotor.setPower(0);
    robot.rightMotor.setPower(0);
}
 

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

        /* we keep track of how long it's been since the OpMode was started, just
         * to have some interesting data to show */
        ElapsedTime opmodeRunTime = new ElapsedTime();

        // We show the log in oldest-to-newest order, as that's better for poetry
        telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
        // We can control the number of lines shown in the log
        telemetry.log().setCapacity(6);
        // The interval between lines of poetry, in seconds
        double sPoemInterval = 0.6;

        /**
         * Wait until we've been given the ok to go. For something to do, we emit the
         * elapsed time as we sit here and wait. If we didn't want to do anything while
         * we waited, we would just call {@link #waitForStart()}.
         */
        while (!isStarted()) {
            telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
            telemetry.update();
            idle();
        }

        // Ok, we've been given the ok to go

        /**
         * As an illustration, the first line on our telemetry display will display the battery voltage.
         * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
         * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
         * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
         *
         * @see Telemetry#getMsTransmissionInterval()
         */
        telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
            @Override public Double value() {
                return getBatteryVoltage();
            }
            });

        // Reset to keep some timing stats for the post-'start' part of the opmode
        opmodeRunTime.reset();
        int loopCount = 1;

        // Go go gadget robot!
        while (opModeIsActive()) {

            // Emit poetry if it's been a while
            if (poemElapsed.seconds() > sPoemInterval) {
                emitPoemLine();
            }

            // As an illustration, show some loop timing information
            telemetry.addData("loop count", loopCount);
            telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            /**
             * Transmit the telemetry to the driver station, subject to throttling.
             * @see Telemetry#getMsTransmissionInterval()
             */
            telemetry.update();

            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
            loopCount++;
        }
    }
 

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

        /* we keep track of how long it's been since the OpMode was started, just
         * to have some interesting data to show */
        ElapsedTime opmodeRunTime = new ElapsedTime();

        // We show the log in oldest-to-newest order, as that's better for poetry
        telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
        // We can control the number of lines shown in the log
        telemetry.log().setCapacity(6);
        // The interval between lines of poetry, in seconds
        double sPoemInterval = 0.6;

        /**
         * Wait until we've been given the ok to go. For something to do, we emit the
         * elapsed time as we sit here and wait. If we didn't want to do anything while
         * we waited, we would just call {@link #waitForStart()}.
         */
        while (!isStarted()) {
            telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
            telemetry.update();
            idle();
            }

        // Ok, we've been given the ok to go

        /**
         * As an illustration, the first line on our telemetry display will display the battery voltage.
         * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
         * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
         * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
         *
         * @see Telemetry#getMsTransmissionInterval()
         */
        telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
            @Override public Double value() {
                return getBatteryVoltage();
                }
            });

        // Reset to keep some timing stats for the post-'start' part of the opmode
        opmodeRunTime.reset();
        int loopCount = 1;

        // Go go gadget robot!
        while (opModeIsActive()) {

            // Emit poetry if it's been a while
            if (poemElapsed.seconds() > sPoemInterval) {
                emitPoemLine();
                }

            // As an illustration, show some loop timing information
            telemetry.addData("loop count", loopCount);
            telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            /**
             * Transmit the telemetry to the driver station, subject to throttling.
             * @see Telemetry#getMsTransmissionInterval()
             */
            telemetry.update();

            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
            loopCount++;
            idle();
            }
        }
 

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

        /* we keep track of how long it's been since the OpMode was started, just
         * to have some interesting data to show */
        ElapsedTime opmodeRunTime = new ElapsedTime();

        // We show the log in oldest-to-newest order, as that's better for poetry
        telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
        // We can control the number of lines shown in the log
        telemetry.log().setCapacity(6);
        // The interval between lines of poetry, in seconds
        double sPoemInterval = 0.6;

        /**
         * Wait until we've been given the ok to go. For something to do, we emit the
         * elapsed time as we sit here and wait. If we didn't want to do anything while
         * we waited, we would just call {@link #waitForStart()}.
         */
        while (!isStarted()) {
            telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
            telemetry.update();
            idle();
        }

        // Ok, we've been given the ok to go

        /**
         * As an illustration, the first line on our telemetry display will display the battery voltage.
         * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
         * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
         * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
         *
         * @see Telemetry#getMsTransmissionInterval()
         */
        telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
            @Override public Double value() {
                return getBatteryVoltage();
            }
            });

        // Reset to keep some timing stats for the post-'start' part of the opmode
        opmodeRunTime.reset();
        int loopCount = 1;

        // Go go gadget robot!
        while (opModeIsActive()) {

            // Emit poetry if it's been a while
            if (poemElapsed.seconds() > sPoemInterval) {
                emitPoemLine();
            }

            // As an illustration, show some loop timing information
            telemetry.addData("loop count", loopCount);
            telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            /**
             * Transmit the telemetry to the driver station, subject to throttling.
             * @see Telemetry#getMsTransmissionInterval()
             */
            telemetry.update();

            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
            loopCount++;
        }
    }