import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
/**
 * Constructor: Creates an instance of the object.
 *
 * @param hardwareMap specifies the global hardware map.
 * @param instanceName specifies the instance name.
 */
public FtcDigitalInput(HardwareMap hardwareMap, String instanceName)
{
    super(instanceName);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName, tracingEnabled, traceLevel, msgLevel);
    }

    digitalInput = hardwareMap.get(DigitalChannel.class, instanceName);
    digitalInput.setMode(DigitalChannel.Mode.INPUT);
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
/**
 * Constructor: Creates an instance of the object.
 *
 * @param hardwareMap specifies the global hardware map.
 * @param instanceName specifies the instance name.
 */
public FtcDigitalOutput(HardwareMap hardwareMap, String instanceName)
{
    super(instanceName);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName, tracingEnabled, traceLevel, msgLevel);
    }

    digitalOutput = hardwareMap.get(DigitalChannel.class, instanceName);
    digitalOutput.setMode(DigitalChannel.Mode.OUTPUT);
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
@Override
public void runOpMode() {

    // get a reference to our digitalTouch object.
    digitalTouch = hardwareMap.get(DigitalChannel.class, "sensor_digital");

    // set the digital channel to input.
    digitalTouch.setMode(DigitalChannel.Mode.INPUT);

    // wait for the start button to be pressed.
    waitForStart();

    // while the op mode is active, loop and read the light levels.
    // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
    while (opModeIsActive()) {

        // send the info back to driver station using telemetry function.
        // if the digital channel returns true it's HIGH and the button is unpressed.
        if (digitalTouch.getState() == true) {
            telemetry.addData("Digital Touch", "Is Not Pressed");
        } else {
            telemetry.addData("Digital Touch", "Is Pressed");
        }

        telemetry.update();
    }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
/**
 * wrap a DigitalChannel in a DigitalSensor
 *
 * @param digitalChannel the input to wrap
 * @return the created DigitalSensor
 */
public static DigitalSensor digital(final DigitalChannel digitalChannel) {
    digitalChannel.setMode(DigitalChannelController.Mode.INPUT);

    return new DigitalSensor() {
        @Override
        public Boolean getValue() {
            return digitalChannel.getState();
        }
    };
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
/**
 * Move the propriety {@link HardwareMap.DeviceMapping} to our {@link DeviceMap} for our
 * internal use
 */
private void createDeviceMaps() {
    fullMap.checkedPut(DcMotorController.class, new DeviceMap<>(basicMap.dcMotorController));
    fullMap.checkedPut(DcMotor.class, new DeviceMap<>(basicMap.dcMotor));
    fullMap.checkedPut(ServoController.class, new DeviceMap<>(basicMap.servoController));
    fullMap.checkedPut(Servo.class, new DeviceMap<>(basicMap.servo));
    fullMap.checkedPut(LegacyModule.class, new DeviceMap<>(basicMap.legacyModule));
    fullMap.checkedPut(TouchSensorMultiplexer.class, new DeviceMap<>(basicMap.touchSensorMultiplexer));
    fullMap.checkedPut(DeviceInterfaceModule.class, new DeviceMap<>(basicMap.deviceInterfaceModule));
    fullMap.checkedPut(AnalogInput.class, new DeviceMap<>(basicMap.analogInput));
    fullMap.checkedPut(DigitalChannel.class, new DeviceMap<>(basicMap.digitalChannel));
    fullMap.checkedPut(OpticalDistanceSensor.class, new DeviceMap<>(basicMap.opticalDistanceSensor));
    fullMap.checkedPut(TouchSensor.class, new DeviceMap<>(basicMap.touchSensor));
    fullMap.checkedPut(PWMOutput.class, new DeviceMap<>(basicMap.pwmOutput));
    fullMap.checkedPut(I2cDevice.class, new DeviceMap<>(basicMap.i2cDevice));
    fullMap.checkedPut(AnalogOutput.class, new DeviceMap<>(basicMap.analogOutput));
    fullMap.checkedPut(ColorSensor.class, new DeviceMap<>(basicMap.colorSensor));
    fullMap.checkedPut(LED.class, new DeviceMap<>(basicMap.led));
    fullMap.checkedPut(AccelerationSensor.class, new DeviceMap<>(basicMap.accelerationSensor));
    fullMap.checkedPut(CompassSensor.class, new DeviceMap<>(basicMap.compassSensor));
    fullMap.checkedPut(GyroSensor.class, new DeviceMap<>(basicMap.gyroSensor));
    fullMap.checkedPut(IrSeekerSensor.class, new DeviceMap<>(basicMap.irSeekerSensor));
    fullMap.checkedPut(LightSensor.class, new DeviceMap<>(basicMap.lightSensor));
    fullMap.checkedPut(UltrasonicSensor.class, new DeviceMap<>(basicMap.ultrasonicSensor));
    fullMap.checkedPut(VoltageSensor.class, new DeviceMap<>(basicMap.voltageSensor));

    LinkedHashMultimap<DcMotorController, DcMotor> multimap = LinkedHashMultimap.create();
    for (DcMotor motor : dcMotors()) {
        multimap.put(motor.getController(), motor);
    }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
@Override
public void runOpMode() {

  boolean               inputPin;             // Input State
  boolean               outputPin;            // Output State
  DeviceInterfaceModule dim;                  // Device Object
  DigitalChannel        digIn;                // Device Object
  DigitalChannel        digOut;               // Device Object

  // get a reference to a Modern Robotics DIM, and IO channels.
  dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");   //  Use generic form of device mapping
  digIn  = hardwareMap.get(DigitalChannel.class, "digin");     //  Use generic form of device mapping
  digOut = hardwareMap.get(DigitalChannel.class, "digout");    //  Use generic form of device mapping

  digIn.setMode(DigitalChannelController.Mode.INPUT);          // Set the direction of each channel
  digOut.setMode(DigitalChannelController.Mode.OUTPUT);

  // wait for the start button to be pressed.
  telemetry.addData(">", "Press play, and then user X button to set DigOut");
  telemetry.update();
  waitForStart();

  while (opModeIsActive())  {

      outputPin = gamepad1.x ;        //  Set the output pin based on x button
      digOut.setState(outputPin);
      inputPin = digIn.getState();    //  Read the input pin

      // Display input pin state on LEDs
      if (inputPin) {
          dim.setLED(RED_LED_CHANNEL, true);
          dim.setLED(BLUE_LED_CHANNEL, false);
      }
      else {
          dim.setLED(RED_LED_CHANNEL, false);
          dim.setLED(BLUE_LED_CHANNEL, true);
      }

      telemetry.addData("Output", outputPin );
      telemetry.addData("Input", inputPin );
      telemetry.addData("LED",   inputPin ? "Red" : "Blue" );
      telemetry.update();
  }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
@Override
public void runOpMode() {

  boolean               inputPin;             // Input State
  boolean               outputPin;            // Output State
  DeviceInterfaceModule dim;                  // Device Object
  DigitalChannel        digIn;                // Device Object
  DigitalChannel        digOut;               // Device Object

  // get a reference to a Modern Robotics DIM, and IO channels.
  dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");   //  Use generic form of device mapping
  digIn  = hardwareMap.get(DigitalChannel.class, "digin");     //  Use generic form of device mapping
  digOut = hardwareMap.get(DigitalChannel.class, "digout");    //  Use generic form of device mapping

  digIn.setMode(DigitalChannel.Mode.INPUT);          // Set the direction of each channel
  digOut.setMode(DigitalChannel.Mode.OUTPUT);

  // wait for the start button to be pressed.
  telemetry.addData(">", "Press play, and then user X button to set DigOut");
  telemetry.update();
  waitForStart();

  while (opModeIsActive())  {

      outputPin = gamepad1.x ;        //  Set the output pin based on x button
      digOut.setState(outputPin);
      inputPin = digIn.getState();    //  Read the input pin

      // Display input pin state on LEDs
      if (inputPin) {
          dim.setLED(RED_LED_CHANNEL, true);
          dim.setLED(BLUE_LED_CHANNEL, false);
      }
      else {
          dim.setLED(RED_LED_CHANNEL, false);
          dim.setLED(BLUE_LED_CHANNEL, true);
      }

      telemetry.addData("Output", outputPin );
      telemetry.addData("Input", inputPin );
      telemetry.addData("LED",   inputPin ? "Red" : "Blue" );
      telemetry.update();
  }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
private void mapDigitalDevice(HardwareMap map, DeviceManager deviceMgr, DeviceInterfaceModule deviceInterfaceModule, DeviceConfiguration devConf) {
    if (!devConf.isEnabled()) return;
    DigitalChannel digitalChannel = deviceMgr.createDigitalChannelDevice(deviceInterfaceModule, devConf.getPort());
    map.digitalChannel.put(devConf.getName(), digitalChannel);
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
@Override
public void runOpMode() throws InterruptedException {

    boolean inputPin;             // Input State
    boolean outputPin;            // Output State
    DeviceInterfaceModule dim;                  // Device Object
    DigitalChannel digIn;                // Device Object
    DigitalChannel digOut;               // Device Object

    // get a reference to a Modern Robotics DIM, and IO channels.
    dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");   //  Use generic form of device mapping
    digIn = hardwareMap.get(DigitalChannel.class, "digin");     //  Use generic form of device mapping
    digOut = hardwareMap.get(DigitalChannel.class, "digout");    //  Use generic form of device mapping

    digIn.setMode(DigitalChannelController.Mode.INPUT);          // Set the direction of each channel
    digOut.setMode(DigitalChannelController.Mode.OUTPUT);

    // wait for the start button to be pressed.
    telemetry.addData(">", "Press play, and then user X button to set DigOut");
    telemetry.update();
    waitForStart();

    while (opModeIsActive()) {

        outputPin = gamepad1.x;        //  Set the output pin based on x button
        digOut.setState(outputPin);
        inputPin = digIn.getState();    //  READ the input pin

        // Display input pin state on LEDs
        if (inputPin) {
            dim.setLED(RED_LED_CHANNEL, true);
            dim.setLED(BLUE_LED_CHANNEL, false);
        } else {
            dim.setLED(RED_LED_CHANNEL, false);
            dim.setLED(BLUE_LED_CHANNEL, true);
        }

        telemetry.addData("Output", outputPin);
        telemetry.addData("Input", inputPin);
        telemetry.addData("LED", inputPin ? "Red" : "Blue");
        telemetry.update();
    }
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
/**
 * combines two inputs that are attached to the same switch so that when one is pressed, the other is not
 *
 * @param digitalChannel    the input that has the polarity that the output should have
 * @param digitalChannelInv the input that has opposite polarity
 * @return the combined DigitalSensor
 */
public static DigitalSensor combinedFwdInv(DigitalChannel digitalChannel, DigitalChannel digitalChannelInv) {
    return combinedFwdInv(digital(digitalChannel), digital(digitalChannelInv));
}
 

import com.qualcomm.robotcore.hardware.DigitalChannel; //导入依赖的package包/类
/**
 * Returns a {@link DeviceMap<DigitalChannel>} for use to access Digital Channel hardware
 *
 * @return a DeviceMap to use for access to representations of Digital Channels
 * @see DeviceMap
 * @see DigitalChannel
 */
public DeviceMap<DigitalChannel> digitalChannels() {
    return fullMap.checkedGet(DigitalChannel.class);
}