加入 DriverProgram ，让机器的控制程序更加集成化

6-BennyLi-9 · 6-BennyLi-9 · commit af4d2b013c84 · 2024-08-29T09:05:38.000+08:00
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommand.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommand.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.DriveControls;
+package org.firstinspires.ftc.teamcode.DriveControls.Commands;
 
 import androidx.annotation.NonNull;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommandPackage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommandPackage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.DriveControls;
+package org.firstinspires.ftc.teamcode.DriveControls.Commands;
 
 import java.util.LinkedList;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/drivingCommandsBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/drivingCommandsBuilder.java
@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.DriveControls;
+package org.firstinspires.ftc.teamcode.DriveControls.Commands;
 
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.roadrunner.Vector2d;
 
+import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Enums.TrajectoryType;
 import org.firstinspires.ftc.teamcode.utils.Mathematics;
 
@@ -12,7 +13,7 @@ public class drivingCommandsBuilder {
 	private final SimpleMecanumDrive drive;
 	private DriveCommand cache;
 
-	drivingCommandsBuilder(@NonNull SimpleMecanumDrive drive) {
+	public drivingCommandsBuilder(@NonNull SimpleMecanumDrive drive) {
 		commandPackage = new DriveCommandPackage();
 		commandPackage.commands.add(new DriveCommand(drive.classic, drive.BufPower, drive.poseHistory.getLast()));
 		this.drive = drive;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/DriverProgram.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/DriverProgram.java
@@ -0,0 +1,14 @@
+package org.firstinspires.ftc.teamcode.DriveControls;
+
+import androidx.annotation.NonNull;
+
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommand;
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
+
+import java.util.LinkedList;
+
+public interface DriverProgram {
+	void update();
+	default void runCommandPackage(@NonNull DriveCommandPackage commandPackage){}
+	default void runCommandPackage(@NonNull LinkedList<DriveCommand> commands){}
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/SimpleMecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/SimpleMecanumDrive.java
@@ -9,6 +9,9 @@
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Vector2d;
 
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommand;
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.drivingCommandsBuilder;
 import org.firstinspires.ftc.teamcode.DriveControls.Localizers.DeadWheelSubassemblyLocalizer;
 import org.firstinspires.ftc.teamcode.DriveControls.Localizers.definition.Localizer;
 import org.firstinspires.ftc.teamcode.Hardwares.Classic;
@@ -23,15 +26,15 @@
 
 import java.util.LinkedList;
 
-public class SimpleMecanumDrive {
-	protected final Classic classic;
+public class SimpleMecanumDrive implements DriverProgram{
+	public final Classic classic;
 	private final Motors motors;
 	private final Client client;
 	private final PID_processor pidProcessor;
 	
-	protected final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+	public final LinkedList<Pose2d> poseHistory = new LinkedList<>();
 	public Pose2d RobotPosition;
-	protected double BufPower=1f;
+	public double BufPower=1f;
 
 	public final Localizer localizer;
 
@@ -56,7 +59,8 @@ public SimpleMecanumDrive(@NonNull Robot robot, Pose2d RobotPosition){
 	/**
 	 * @param commands 要执行的LinkedList < DriveCommand >，不建议在使用时才定义driveCommandPackage，虽然没有任何坏处
 	 */
-	public void runDriveCommands(@NonNull LinkedList < DriveCommand > commands){
+	@Override
+	public void runCommandPackage(@NonNull LinkedList <DriveCommand> commands){
 		DriveCommand[] commandLists=new DriveCommand[commands.size()];
 		commands.toArray(commandLists);
 		Vector2d[] PoseList;
@@ -147,8 +151,9 @@ public void runDriveCommands(@NonNull LinkedList < DriveCommand > commands){
 	/**
 	 * @param driveCommandPackage 要执行的DriveCommandPackage，不建议在使用时才定义driveCommandPackage，虽然没有任何坏处
 	 */
-	public void runDriveCommandPackage(@NonNull DriveCommandPackage driveCommandPackage){
-		runDriveCommands(driveCommandPackage.commands);
+	@Override
+	public void runCommandPackage(@NonNull DriveCommandPackage driveCommandPackage){
+		runCommandPackage(driveCommandPackage.commands);
 	}
 	
 	/**
@@ -202,6 +207,7 @@ public drivingCommandsBuilder drivingCommandsBuilder(){
 		return new drivingCommandsBuilder(this);
 	}
 
+	@Override
 	public void update(){
 		localizer.update();
 		RobotPosition = localizer.getCurrentPose();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/AutonomousSample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/AutonomousSample.java
@@ -4,7 +4,7 @@
 import com.acmerobotics.roadrunner.Vector2d;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
-import org.firstinspires.ftc.teamcode.DriveControls.DriveCommandPackage;
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
 import org.firstinspires.ftc.teamcode.utils.Templates.AutonomousProgramTemplate;
 import org.firstinspires.ftc.teamcode.utils.Enums.AutonomousLocation;
 
@@ -36,7 +36,7 @@ public void runOpMode() {
 						.TurnAngle(90)
 						.StrafeInDistance(Math.toRadians(-90),Math.sqrt(1152))
 						.END();
-				drive.runDriveCommandPackage(command);
+				drive.runCommandPackage(command);
 				break;
 			case right:
 				break;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/SMDTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/SMDTest.java
@@ -5,7 +5,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.DriveControls.DriveCommandPackage;
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
 import org.firstinspires.ftc.teamcode.Robot;
 import org.firstinspires.ftc.teamcode.utils.Annotations.TuningOpModes;
 import org.firstinspires.ftc.teamcode.utils.Templates.AutonomousProgramTemplate;
@@ -35,7 +35,7 @@ public void runOpMode() {
 				.StrafeTo(new Vector2d(24,0))
 				.END();
 
-		drive.runDriveCommandPackage(trajectory);
+		drive.runCommandPackage(trajectory);
 		robot.update();
 		robot.turnAngle(-90);
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
@@ -13,7 +13,7 @@
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.DriveControls.drivingCommandsBuilder;
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.drivingCommandsBuilder;
 import org.firstinspires.ftc.teamcode.Hardwares.Classic;
 import org.firstinspires.ftc.teamcode.Hardwares.Structure;
 import org.firstinspires.ftc.teamcode.Hardwares.Webcam;
@@ -142,11 +142,11 @@ public drivingCommandsBuilder drivingCommandsBuilder(){
 	 */
 	public void turnAngle(double angle){
 		if(RunningState==runningState.ManualDrive)return;
-		drive.runDriveCommandPackage(drive.drivingCommandsBuilder().TurnAngle(angle).END());
+		drive.runCommandPackage(drive.drivingCommandsBuilder().TurnAngle(angle).END());
 	}
 	public void strafeTo(Vector2d pose){
 		if(RunningState==runningState.ManualDrive)return;
-		drive.runDriveCommandPackage(drive.drivingCommandsBuilder().StrafeTo(pose).END());
+		drive.runCommandPackage(drive.drivingCommandsBuilder().StrafeTo(pose).END());
 	}
 
 	public Pose2d pose(){
@@ -160,7 +160,7 @@ public Pose2d pose(){
 	 */
 	public void SetGlobalBufPower(double BufPower){
 		if(drive!=null) {
-			drive.runDriveCommandPackage(drive.drivingCommandsBuilder().SetPower(BufPower).END());//考虑是否删去此代码片段
+			drive.runCommandPackage(drive.drivingCommandsBuilder().SetPower(BufPower).END());//考虑是否删去此代码片段
 		}
 		motors.setBufPower(BufPower);
 	}

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-package org.firstinspires.ftc.teamcode.DriveControls;`
	`1`	`+package org.firstinspires.ftc.teamcode.DriveControls.Commands;`
`2`	`2`
`3`	`3`	`import androidx.annotation.NonNull;`
`4`	`4`