将数组列表用于状态机

Question

我希望能够将案例添加到枚举变量状态机中，例如数组列表。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。我怎样才能让程序在不使用时间延迟的情况下等待方法完成，因为时间可能因不同情况而异。案例和方法在loop()方法的代码底部。

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";

            }
        }


    }
}

Answer 1

我想到的第一件事是，一个简单的解决方案是使用一个通用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，即一次您只有一个方法可以等待，因为根据您的问题，在第一个方法完成之前，您不想运行另一种方法执行。

编辑：

在程序运行时，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，然后在从您的方法返回之前，将其设置回 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即可。