我希望能够像枚举列表一样将枚举添加到枚举变量状态机.我这样做是通过创建一个数组列表并使用大小来告诉它有多少个案例并使用for循环相应地执行它们.问题是它会在我的方法调用完成之前进入下一个案例.如何在不使用时间延迟的情况下使程序等待方法完成,因为时间可能因不同情况而异.案例和方法是loop()方法中代码的底部.
package com.qualcomm.ftcrobotcontroller.opmodes;
import com.qualcomm.hardware.HiTechnicNxtCompassSensor;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.util.ElapsedTime;
import java.util.ArrayList;
/**
* Created by Robotics on 12/11/2015.
*/
public class RobotAction extends OpMode {
//HiTechnicNxtCompassSensor compassSensor;
//double compassvalue = compassSensor.getDirection();
double compassvalue;
double lastcompassvalue;
DcMotor rightdrive;
DcMotor leftdrive;
final double fullpower = 1;
double angle;
double distance;
final double wheelediameter = 4.0;
final double circumference = wheelediameter * Math.PI;
final double gearratio = 1;
final double countsperrotation = 1440;
double wheelrotations = distance / circumference;
double motorrotations = wheelrotations * gearratio;
double encodercounts = motorrotations * countsperrotation;
int currentpositionright;
int step;
ElapsedTime time;
String status;
String action;
public enum RelativePosition {North, NorthEast, East, SouthEast, South, SouthWest, West, NorthWest}
RelativePosition relativeposition;
private void Action(double angle, int compassvalue, double encodercounts, RelativePosition relativeposition) {
action = "running";
lastcompassvalue = compassvalue;
switch(relativeposition) {
case North:
currentpositionright = rightdrive.getCurrentPosition();
if (rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) (encodercounts + 1));
leftdrive.setTargetPosition((int) (encodercounts + 1));
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setDirection(DcMotor.Direction.REVERSE);
rightdrive.setPower(.5);
leftdrive.setPower(.5);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
break;
case NorthEast:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue > lastcompassvalue - (90-angle)) {
rightdrive.setDirection(DcMotor.Direction.FORWARD);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts + 1);
leftdrive.setTargetPosition((int) encodercounts + 1);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setDirection(DcMotor.Direction.REVERSE);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
case East:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue > lastcompassvalue - 90) {
rightdrive.setDirection(DcMotor.Direction.FORWARD);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts + 1);
leftdrive.setTargetPosition((int) encodercounts + 1);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setDirection(DcMotor.Direction.REVERSE);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
case SouthEast:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue > lastcompassvalue - (90+angle)) {
rightdrive.setDirection(DcMotor.Direction.FORWARD);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts);
leftdrive.setTargetPosition((int) encodercounts);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setDirection(DcMotor.Direction.REVERSE);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
case South:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue > lastcompassvalue - 180) {
rightdrive.setDirection(DcMotor.Direction.FORWARD);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts + 1);
leftdrive.setTargetPosition((int) encodercounts + 1);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setDirection(DcMotor.Direction.REVERSE);
rightdrive.setPower(fullpower);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
case SouthWest:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue < lastcompassvalue + (90+angle) ) {
rightdrive.setPower(fullpower);
leftdrive.setDirection(DcMotor.Direction.REVERSE);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts + 1);
leftdrive.setTargetPosition((int) encodercounts + 1);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setPower(fullpower);
leftdrive.setDirection(DcMotor.Direction.FORWARD);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
case West:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue < lastcompassvalue + 90) {
rightdrive.setPower(fullpower);
leftdrive.setDirection(DcMotor.Direction.REVERSE);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts + 1);
leftdrive.setTargetPosition((int) encodercounts + 1);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setPower(fullpower);
leftdrive.setDirection(DcMotor.Direction.FORWARD);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
case NorthWest:
currentpositionright = rightdrive.getCurrentPosition();
if (compassvalue < lastcompassvalue + (90-angle)) {
rightdrive.setPower(fullpower);
leftdrive.setDirection(DcMotor.Direction.REVERSE);
leftdrive.setPower(fullpower);
}
else {
if(rightdrive.getCurrentPosition() < encodercounts) {
rightdrive.setTargetPosition((int) encodercounts + 1);
leftdrive.setTargetPosition((int) encodercounts + 1);
rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightdrive.setPower(fullpower);
leftdrive.setDirection(DcMotor.Direction.FORWARD);
leftdrive.setPower(fullpower);
}
else {
rightdrive.setPower(0);
leftdrive.setPower(0);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
}
}
break;
}
action = "done";
}
private final ArrayList<Integer> Step = new ArrayList<>();
@Override
public void init() {
rightdrive = hardwareMap.dcMotor.get("right_drive");
leftdrive = hardwareMap.dcMotor.get("left_drive");
rightdrive.setDirection(DcMotor.Direction.REVERSE);
leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
step = 1;
Step.add(step);
//compassSensor = (HiTechnicNxtCompassSensor) hardwareMap.compassSensor.get("compass");
compassvalue = 0;
relativeposition = RelativePosition.North;
distance = 12;
angle = 60;
}
public void start() {
status = "Running";
time = new ElapsedTime();
time.reset();
}
@Override
public void loop() {
telemetry.addData("Status", status);
double currenttime = time.time();
int size = Step.size();
for (int i=0; i<size; i++) {
int element = Step.get(i);
switch (element) {
case 1:
Action(angle, (int) compassvalue,encodercounts,relativeposition);
step++;
Step.add(step);
break;
case 2:
rightdrive.setPower(0);
leftdrive.setPower(0);
status = "Done";
}
}
}
}
最佳答案 我想到的第一件事是,一个天真的解决方案是使用一个公共的全局布尔值作为标志来检查该方法是否仍在运行.当然这是基于我的假设,一次只有一种方法,你将等待,因为根据你的问题,你不想运行另一种方法,直到第一个方法完成它执行.
编辑:
在程序运行之前,在开始执行方法之前将布尔值设置为true.
然后每次方法开始执行时,将其设置为false,然后在从方法返回之前,将其设置为true.在发出方法调用的循环中,只需在调用另一个方法之前检查该变量.