import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public Odometer (EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor, int INTERVAL, boolean autostart) {
	
	this.leftMotor = leftMotor;
	this.rightMotor = rightMotor;
	
	// default values, modify for your robot
	this.rightRadius = GlobalDefinitions.WHEEL_RADIUS;
	this.leftRadius = GlobalDefinitions.WHEEL_RADIUS;
	this.width = GlobalDefinitions.WHEEL_BASE;
	
	this.x = 0.0;
	this.y = 0.0;
	this.theta = 0.0;
	this.oldDH = new double[2];
	this.dDH = new double[2];

	if (autostart) {
		// if the timeout interval is given as <= 0, default to 20ms timeout 
		this.timer = new Timer((INTERVAL <= 0) ? INTERVAL : DEFAULT_TIMEOUT_PERIOD, this);
		this.timer.start();
	} else
		this.timer = null;
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
private void initRegulatedMotor(ActorPort actorPort, Actor actorType, Port hardwarePort) {
    this.lcd.clear();
    // Hal.formatInfoMessage("Initializing motor on port " + actorPort, this.lcd);
    switch ( actorType.getName() ) {
        case LARGE:
            this.lejosRegulatedMotors.put(actorPort, new EV3LargeRegulatedMotor(hardwarePort));
            break;
        case MEDIUM:
            this.lejosRegulatedMotors.put(actorPort, new EV3MediumRegulatedMotor(hardwarePort));
            break;
        case REGULATED:
            this.lejosRegulatedMotors.put(actorPort, new NXTRegulatedMotor(hardwarePort));
            break;
        default:
            throw new DbcException("Actor type " + actorType.getName() + " does not exists!");
    }
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
		EV3 ev3 = (EV3) BrickFinder.getLocal();
		TextLCD lcd = ev3.getTextLCD();
		Keys keys = ev3.getKeys();
		
		EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1);
		SensorMode touch = touchSensor.getTouchMode();
		float[] sample = new float[touch.sampleSize()];
		
		RegulatedMotor m = new EV3LargeRegulatedMotor(MotorPort.A);
		m.resetTachoCount();
		
		m.rotateTo(320, true);
		
//		int angle = m.getTachoCount(); // should be -360
//		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
		
//		m.rotateTo(-100, true);
//		do{
//			touch.fetchSample(sample, 0);
//		} while (sample[0] == 0);
		
		while (m.isMoving())
			Thread.yield();
		m.stop();	
		
		int angle = m.getTachoCount(); // should be < -100
		lcd.drawInt(angle, 0, 1);
//		keys.waitForAnyPress();
	}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
		EV3 ev3 = (EV3) BrickFinder.getLocal();
		TextLCD lcd = ev3.getTextLCD();
		Keys keys = ev3.getKeys();
		
		RegulatedMotor m = new EV3LargeRegulatedMotor(MotorPort.A);
		m.resetTachoCount();
		
		m.rotateTo(-40);
		int angle = m.getTachoCount(); // should be 760
		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
	
//		m.rotateTo(0);
//		angle = m.getTachoCount(); // should be 0
//		lcd.drawInt(angle, 0, 1);
//		keys.waitForAnyPress(); // wait for a button press
		
		m.close();
	}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
	EV3 ev3 = (EV3) BrickFinder.getLocal();
	TextLCD lcd = ev3.getTextLCD();
	Keys keys = ev3.getKeys();

	// lcd.drawString("Hello Trayan", 4, 2);
	// lcd.drawString("from leJOS", 4, 3);

	// Move forward
	RegulatedMotor mB = new EV3LargeRegulatedMotor(MotorPort.B);
	RegulatedMotor mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mB.synchronizeWith(new RegulatedMotor[] { mC });

	mB.startSynchronization();
	mB.forward();
	mC.forward();
	mB.endSynchronization();

	Delay.msDelay(3000);
	mB.startSynchronization();
	mB.stop();
	mC.stop();
	mB.endSynchronization();

	// keys.waitForAnyPress(5000);
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //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.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public void init(boolean isClockwiseMove) {
	this.robotRunning = true;
	
	//Init Motor
	motorA = new EV3MediumRegulatedMotor(MotorPort.A);
	motorB = new EV3LargeRegulatedMotor(MotorPort.B);
	motorC = new EV3LargeRegulatedMotor(MotorPort.C);
	
	// init sensors
	this.colorSensor = new EV3ColorSensor(SensorPort.S3);
	//For reading color only
	try {
		this.colorSensorRGB = new EV3ColorSensor(SensorPort.S2);
	} catch(Exception e) {
		this.colorSensorRGB = null;
	}
	new Thread(new ColorIdentifyTask()).start();
	new Thread(new LightIdentifyTask()).start();
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
	log.info("Initializing...");
	LCD.clear();
	disableOtherLogLayers();
	LCD.clear();
	Button.setKeyClickVolume(1);
	SystemTime.initSysTime();
	ClockProperties clockProperties = ClockProperties.getInstance();
	AnalogClock clock = new AnalogClock(clockProperties, new TickPeriod(5,
			TimeUnit.SECONDS), new Time(0, 20),
			MirrorMotor
					.invertMotor(new EV3MediumRegulatedMotor(MotorPort.A)),
			MirrorMotor
					.invertMotor(new EV3LargeRegulatedMotor(MotorPort.B)));
	MainWithMenu mainWithMenu = new MainWithMenu(clock);
	log.info("Ready");
	Sound.beep();
	mainWithMenu.start();
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public Navigation(Odometer odo) {
	this.odometer = odo;

	EV3LargeRegulatedMotor[] motors = this.odometer.getMotors();
	this.leftMotor = motors[0];
	this.rightMotor = motors[1];

	// set acceleration
	this.leftMotor.setAcceleration(ACCELERATION);
	this.rightMotor.setAcceleration(ACCELERATION);
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public RoughUSLocalizer(Odometer odo,  SampleProvider usSensor, float[] usData, LocalizationType locType,EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) {
	this.odo = odo;
	this.usSensor = usSensor;
	this.usData = usData;
	this.locType = locType;
	this.leftMotor=leftMotor;
	this.rightMotor=rightMotor;

}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public static void init() {
 GlobalDefinitions.LEFT_MOTOR         = new EV3LargeRegulatedMotor(LocalEV3.get().getPort(GlobalDefinitions.leftMotorPort));
 GlobalDefinitions.RIGHT_MOTOR        = new EV3LargeRegulatedMotor(LocalEV3.get().getPort(GlobalDefinitions.rightMotorPort));
 GlobalDefinitions.RELOADMOTOR        = new EV3LargeRegulatedMotor(LocalEV3.get().getPort(GlobalDefinitions.reloadMotorPort));
 GlobalDefinitions.SHOOTMOTOR        = new EV3LargeRegulatedMotor(LocalEV3.get().getPort(GlobalDefinitions.shooterMotorPort));
 GlobalDefinitions.LEFT_COLOR_SENSOR  = new EV3ColorSensor(LocalEV3.get().getPort(GlobalDefinitions.leftColorSensorPort));
 GlobalDefinitions.RIGHT_COLOR_SENSOR = new EV3ColorSensor(LocalEV3.get().getPort(GlobalDefinitions.rightColorSensorPort));
 GlobalDefinitions.US_SENSOR          = new EV3UltrasonicSensor(LocalEV3.get().getPort(GlobalDefinitions.usSensorPort));
 //GlobalDefinitions.REAR_COLOR_SENSOR  = new EV3ColorSensor(LocalEV3.get().getPort(GlobalDefinitions.rearColorSensorPort)); 
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public TestDriver(Odometer odo){
	this.odo = odo;

	EV3LargeRegulatedMotor[] motors = this.odo.getMotors();
	this.leftMotor = motors[0];
	this.rightMotor = motors[1];

	// set acceleration
	this.leftMotor.setAcceleration(ACCELERATION);
	this.rightMotor.setAcceleration(ACCELERATION);
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
private GrabBot(){
    left = new EV3LargeRegulatedMotor(MotorPort.A);
    right = new EV3LargeRegulatedMotor(MotorPort.B);
    touch = new EV3TouchSensor(SensorPort.S1);

    arbitrator = new Arbitrator(new Behavior[]{forward, hit});
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
private GrabBot(){
    left = new EV3LargeRegulatedMotor(MotorPort.A);
    right = new EV3LargeRegulatedMotor(MotorPort.B);
    touch = new EV3TouchSensor(SensorPort.S1);

    Behavior forward = new ForwardBehavior(this);
    Behavior hit = new ObstacleBehavior(this);
    arbitrator = new Arbitrator(new Behavior[]{forward, hit});
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public Canon(Port canonEnginePort, Port rotationEnginePort) {
    canonEngine = new EV3MediumRegulatedMotor(canonEnginePort);
    rotationEngine = new EV3LargeRegulatedMotor(rotationEnginePort);
    resetEngine(canonEngine);
    resetEngine(rotationEngine);

}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public LineFollower01() {
	mA = new EV3LargeRegulatedMotor(MotorPort.A);
	mB = new EV3LargeRegulatedMotor(MotorPort.B);
	mC = new EV3LargeRegulatedMotor(MotorPort.C);
	mB.setSpeed(120);// 2 RPM
	mC.setSpeed(120);
	mB.synchronizeWith(new RegulatedMotor[] { mC });
	color = colorSensor.getRGBMode();
	colorSample = new float[color.sampleSize()];
	touch = touchSensor.getTouchMode();
	sample = new float[touch.sampleSize()];
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public static void main(String[] args) {
	EV3 ev3 = (EV3) BrickFinder.getLocal();
	TextLCD lcd = ev3.getTextLCD();
	Keys keys = ev3.getKeys();

	// lcd.drawString("Hello Trayan", 4, 2);
	// lcd.drawString("from leJOS", 4, 3);

	// Open clow
	RegulatedMotor mA = new EV3LargeRegulatedMotor(MotorPort.A);

	while (true) {
		mA.resetTachoCount();
		lcd.drawString("Up - Close", 4, 2);
		lcd.drawString("Down - Open", 4, 3);
		lcd.drawString("Escape - Exit", 4, 4);

		// Simple menu
		keys.waitForAnyPress(60000);
		int maRotation = 0;
		if (Button.DOWN.isDown()) {
			maRotation = -620;
		} else if (Button.UP.isDown()) {
			maRotation = 620;
		}
		if (Button.ESCAPE.isDown()) {
			System.exit(0);
		}

		mA.rotateTo(maRotation, false);
		int count = mA.getTachoCount();
		lcd.drawString("Tacho: " + count, 0, 2);
	}

}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public EV3LargeRegulatedMotor [] getMotors() {
	return new EV3LargeRegulatedMotor[] {this.leftMotor, this.rightMotor};
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public EV3LargeRegulatedMotor getLeftMotor() {
	return this.leftMotor;
}
 

import lejos.hardware.motor.EV3LargeRegulatedMotor; //导入依赖的package包/类
public EV3LargeRegulatedMotor getRightMotor() {
	return this.rightMotor;
}