加入 DriveOrderBuilder ，并加入 DriveOrderPackage ， 同时对其进行优化

Author: 6-BennyLi-9

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DriveActionPackage.java

@@ -0,0 +1,11 @@
+package org.firstinspires.ftc.teamcode.DriveControls.Actions;
+
+import java.util.LinkedList;
+
+public class DriveActionPackage {
+	public LinkedList<DriveAction> actions;
+
+	DriveActionPackage(){
+		actions=new LinkedList<>();
+	}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DrivingActionsBuilder.java

@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.DriveControls.Actions;
+
+import androidx.annotation.NonNull;
+
+import org.firstinspires.ftc.teamcode.DriveControls.DriverProgram;
+import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
+
+public class DrivingActionsBuilder {
+	private final DriveActionPackage actionPackage;
+	private final DriverProgram drive;
+	private DriveAction cache;
+
+	public DrivingActionsBuilder(@NonNull SimpleMecanumDrive drive) {
+		actionPackage = new DriveActionPackage();
+		actionPackage.actions.add(new DriveAction(drive.classic, drive.BufPower, drive.poseHistory.getLast()));
+		this.drive = drive;
+	}
+	DrivingActionsBuilder(DriverProgram drive, DriveActionPackage actionPackage) {
+		this.actionPackage = actionPackage;
+		this.drive = drive;
+	}
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommand.java

@@ -33,7 +33,7 @@ public void runCommand() {
 	 */
 	public TrajectoryType trajectoryType = null;
 
-	DriveCommand(final Classic classic, double BufPower, Pose2d pose) {
+	public DriveCommand(final Classic classic, double BufPower, Pose2d pose) {
 		this.BufPower = BufPower;
 		this.pose = pose;
 		this.classic = classic;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommandPackage.java

@@ -1,14 +1,38 @@
 package org.firstinspires.ftc.teamcode.DriveControls.Commands;
 
+import org.firstinspires.ftc.teamcode.DriveControls.DriveOrder;
+import org.firstinspires.ftc.teamcode.DriveControls.DriveOrderPackage;
+
 import java.util.LinkedList;
 
 /**
  * 为了方便存储，查询
  */
-public class DriveCommandPackage {
+public class DriveCommandPackage implements DriveOrderPackage {
 	public LinkedList<DriveCommand> commands;
 
-	DriveCommandPackage() {
+	public DriveCommandPackage() {
 		commands = new LinkedList<>();
 	}
+
+	@Override
+	public LinkedList<DriveOrder> getOrder() {
+		LinkedList<DriveOrder> res=new LinkedList<>();
+		for (DriveOrder order : commands) {
+			res.push(order);
+		}
+		return res;
+	}
+
+	@Override
+	public void setOrder(LinkedList<DriveOrder> val) {
+		if(val != null) {
+			commands=new LinkedList<>();
+			for (DriveOrder order : val) {
+				commands.push((DriveCommand) order);
+			}
+		}else{
+			throw new NullPointerException();
+		}
+	}
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/drivingCommandsBuilder.java renamed to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DrivingCommandsBuilder.java

@@ -9,18 +9,18 @@
 import org.firstinspires.ftc.teamcode.utils.Enums.TrajectoryType;
 import org.firstinspires.ftc.teamcode.utils.Mathematics;
 
-public class drivingCommandsBuilder {
+public class DrivingCommandsBuilder {
 	private final DriveCommandPackage commandPackage;
 	private final DriverProgram drive;
 	private DriveCommand cache;
 
-	public 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;
 	}
 
-	drivingCommandsBuilder(DriverProgram drive, DriveCommandPackage commandPackage) {
+	DrivingCommandsBuilder(DriverProgram drive, DriveCommandPackage commandPackage) {
 		this.commandPackage = commandPackage;
 		this.drive = drive;
 	}
@@ -30,35 +30,35 @@ public drivingCommandsBuilder(@NonNull SimpleMecanumDrive drive) {
 	 *
 	 * @param power 目标设置的电机BufPower
 	 */
-	public drivingCommandsBuilder SetPower(double power) {
+	public DrivingCommandsBuilder SetPower(double power) {
 		power = Mathematics.intervalClip(power, -1f, 1f);
 		cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
 		cache.SetPower(power);
 		cache.trajectoryType = TrajectoryType.WithoutChangingPosition;
 		commandPackage.commands.add(cache);
-		return new drivingCommandsBuilder(drive, commandPackage);
+		return new DrivingCommandsBuilder(drive, commandPackage);
 	}
 
 	/**
 	 * 在该节点让机器旋转指定弧度
 	 *
 	 * @param radians 要转的弧度[-PI,PI)
 	 */
-	public drivingCommandsBuilder TurnRadians(double radians) {
+	public DrivingCommandsBuilder TurnRadians(double radians) {
 		radians = Mathematics.intervalClip(radians, -Math.PI, Math.PI);
 		cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
 		cache.Turn(radians);
 		cache.trajectoryType = TrajectoryType.TurnOnly;
 		commandPackage.commands.add(cache);
-		return new drivingCommandsBuilder(drive, commandPackage);
+		return new DrivingCommandsBuilder(drive, commandPackage);
 	}
 
 	/**
 	 * 在该节点让机器旋转指定角度
 	 *
 	 * @param deg 要转的角度[-180,180)
 	 */
-	public drivingCommandsBuilder TurnAngle(double deg) {
+	public DrivingCommandsBuilder TurnAngle(double deg) {
 		return TurnRadians(Math.toRadians(deg));
 	}
 
@@ -68,25 +68,25 @@ public drivingCommandsBuilder TurnAngle(double deg) {
 	 * @param radians  相较于机器的正方向，目标点位的度数（注意不是相较于当前机器方向，而是坐标系定义时给出的机器正方向）
 	 * @param distance 要行驶的距离
 	 */
-	public drivingCommandsBuilder StrafeInDistance(double radians, double distance) {
+	public DrivingCommandsBuilder StrafeInDistance(double radians, double distance) {
 		cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
 		cache.StrafeInDistance(radians, distance);
 		cache.trajectoryType = TrajectoryType.LinerStrafe;
 		commandPackage.commands.add(cache);
-		return new drivingCommandsBuilder(drive, commandPackage);
+		return new DrivingCommandsBuilder(drive, commandPackage);
 	}
 
 	/**
 	 * 在该节点让机器在不旋转的情况下平移
 	 *
 	 * @param pose 目标矢量点位
 	 */
-	public drivingCommandsBuilder StrafeTo(Vector2d pose) {
+	public DrivingCommandsBuilder StrafeTo(Vector2d pose) {
 		cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
 		cache.StrafeTo(pose);
 		cache.trajectoryType = TrajectoryType.LinerStrafe;
 		commandPackage.commands.add(cache);
-		return new drivingCommandsBuilder(drive, commandPackage);
+		return new DrivingCommandsBuilder(drive, commandPackage);
 	}
 
 	/**

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/DriveOrderBuilder.java

@@ -0,0 +1,14 @@
+package org.firstinspires.ftc.teamcode.DriveControls;
+
+import com.acmerobotics.roadrunner.Vector2d;
+
+import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
+
+public interface DriveOrderBuilder {
+	DriveOrderBuilder SetPower(double power);
+	DriveOrderBuilder TurnRadians(double radians);
+	DriveOrderBuilder TurnAngle(double deg);
+	DriveOrderBuilder StrafeInDistance(double radians, double distance);
+	DriveOrderBuilder StrafeTo(Vector2d pose);
+	DriveCommandPackage END();
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/DriveOrderPackage.java

@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode.DriveControls;
+
+import java.util.LinkedList;
+
+public interface DriveOrderPackage {
+	LinkedList<DriveOrder> getOrder();
+	void setOrder(LinkedList<DriveOrder> val);
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/SimpleMecanumDrive.java

@@ -11,7 +11,7 @@
 
 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.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;
@@ -208,8 +208,8 @@ private Pose2d getAimPositionThroughTrajectory(@NonNull DriveCommand driveComman
 	/**
 	 * @return 定义开启新的drivingCommandsBuilder
 	 */
-	public drivingCommandsBuilder drivingCommandsBuilder(){
-		return new drivingCommandsBuilder(this);
+	public DrivingCommandsBuilder drivingCommandsBuilder(){
+		return new DrivingCommandsBuilder(this);
 	}
 
 	@Override

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.Commands.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;
@@ -132,7 +132,7 @@ public void operateThroughGamePad(Gamepad gamepad1,Gamepad gamepad2){
 		classic.operateThroughGamePad(gamepad1);
 		structure.operateThroughGamePad(gamepad2);
 	}
-	public drivingCommandsBuilder drivingCommandsBuilder(){
+	public DrivingCommandsBuilder drivingCommandsBuilder(){
 		return drive.drivingCommandsBuilder();
 	}