import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
/**
 * Instantiates a new helper class and optionally calibrates the cannon.
 * Robot is ready for operation after completion.
 * @param skipMotorCannonCalibration Set to true if you don't want to calibrate the cannon
 */
public EV3Helper(boolean skipMotorCannonCalibration) {
  motorRight = new EV3LargeRegulatedMotor(MotorPort.A);
  motorLeft = new EV3LargeRegulatedMotor(MotorPort.B);

  //Sets default motor speed for driving motors
  motorRight.setSpeed(DEFAULT_MOTOR_SPEED);
  motorLeft.setSpeed(DEFAULT_MOTOR_SPEED);

  motorCannon = instantiateMotorCannon(skipMotorCannonCalibration);
  irSensor = new EV3IRSensor(SensorPort.S1);
  colorSensor = new EV3ColorSensor(SensorPort.S4);

  rangeSampler = irSensor.getDistanceMode();
  lastRange = new float[rangeSampler.sampleSize()];

  colors = getColors();
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
private void initSensor(SensorPort sensorPort, Sensor sensorType, Port hardwarePort) {
    if ( sensorType != null && isUsed(sensorType) ) {
        this.lcd.clear();
        // Hal.formatInfoMessage("Initializing " + sensorType.getComponentType().getShortName() + " on port " + sensorPort + " ...", this.lcd);
        switch ( sensorType.getType() ) {
            case COLOR:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3ColorSensor(hardwarePort)));
                break;
            case INFRARED:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3IRSensor(hardwarePort)));
                break;
            case GYRO:
                this.gyroSensor = new EV3GyroSensor(hardwarePort);
                this.lejosSensors.put(sensorPort, sensorSampleProviders(this.gyroSensor));
                break;
            case TOUCH:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3TouchSensor(hardwarePort)));
                break;
            case ULTRASONIC:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3UltrasonicSensor(hardwarePort)));
                break;
            case COMPASS_HI_TEC:
                this.hiTechnicCompass = new HiTechnicCompass(hardwarePort);
                this.lejosSensors.put(sensorPort, sensorSampleProviders(this.hiTechnicCompass));
                break;
            case SOUND:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new NXTSoundSensor(hardwarePort)));
                break;
            default:
                throw new DbcException("Sensor type " + sensorType.getType() + " does not exists!");
        }
    }
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
public IRSensor()          // Constructor initiates the IR Sensor and the sampler we will use to fetch sensor data
{
    Port port = LocalEV3.get().getPort("S4");           // Define the port used by the Sensor
    SensorModes sensor = new EV3IRSensor(port);         // Initiate the EV3 IR Sensor

    sampler = sensor.getMode("Distance");               // Define the sampler to be the IRSensor in "Distance" measuring mode

    this.setDaemon(true);               // Daemonize the sensor thread.
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
public SimpleEV3IRSensor(Port port) throws EV3ScriptException {
  delegate = new EV3IRSensor(port);
  logger = SensorMonitorFactory.getLogger(port);
  setChannel(1); // Set default channel
  // Distance mode
  distanceMode = delegate.getDistanceMode();
  distanceSample = new float[distanceMode.sampleSize()];
  // Seek mode
  seekMode = delegate.getSeekMode();
  seekSample = new float[seekMode.sampleSize()];
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
private EV3IRSensor createSensor(Port port) {
    return new EV3IRSensor(port);
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
private EV3IRSensor createSensor(Port port) {
    System.out.println("Create LeJOS sensor");
    return new EV3IRSensor(port.getPort());
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
private void closeSensor(EV3IRSensor sensor) {
    System.out.println("Close LeJOS sensor");
    sensor.close();
}
 

import lejos.hardware.sensor.EV3IRSensor; //导入依赖的package包/类
public EV3IRSensor getIrSensor() {
  return irSensor;
}