import com.qualcomm.hardware.matrix.MatrixDcMotorController; //导入依赖的package包/类
private void mapMatrixController(HardwareMap map, DeviceManager deviceMgr, LegacyModule legacyModule, DeviceConfiguration devConf) {
    if (!devConf.isEnabled()) return;
    MatrixMasterController master = new MatrixMasterController((ModernRoboticsUsbLegacyModule) legacyModule, devConf.getPort());

    DcMotorController mc = new MatrixDcMotorController(master);
    map.dcMotorController.put(devConf.getName() + "Motor", mc);
    map.dcMotorController.put(devConf.getName(), mc);
    for (DeviceConfiguration motorConf : ((MatrixControllerConfiguration) devConf).getMotors()) {
        mapMotor(map, deviceMgr, motorConf, mc);
    }

    ServoController sc = new MatrixServoController(master);
    map.servoController.put(devConf.getName() + "Servo", sc);
    map.servoController.put(devConf.getName(), sc);
    for (DeviceConfiguration servoConf : ((MatrixControllerConfiguration) devConf).getServos()) {
        mapServo(map, deviceMgr, servoConf, sc);
    }
}
 

import com.qualcomm.hardware.matrix.MatrixDcMotorController; //导入依赖的package包/类
public void init(HardwareMap ahwMap) {

        // Initialize base Motor and Servo objects
        super.init(ahwMap);

        /*
         * Matrix controllers are special.
         *
         * A Matrix controller is one controller with both motors and servos
         * but software wants to treat it as two distinct controllers, one
         * DcMotorController, and one ServoController.
         *
         * We accomplish this by initializing Motor and Servo controller with the same name
         * given in the configuration.  In the example below the name of the controller is
         * "MatrixController"
         *
         * Normally we don't need to access the controllers themselves, we deal directly with
         * the Motor and Servo objects, but the Matrix interface is different.
         *
         * In order to activate the servos, they need to be enabled on the controller with
         * a call to pwmEnable() and disabled with a call to pwmDisable()
         *
         * Also, the Matrix Motor controller interface provides a call that enables all motors to
         * updated simultaneously (with the same value).
         */

        // Initialize Matrix Motor and Servo objects
        matrixMotorController = (MatrixDcMotorController)ahwMap.dcMotorController.get("matrix controller");
        matrixServoController = ahwMap.servoController.get("matrix controller");

        // Enable Servos
        matrixServoController.pwmEnable();       // Don't forget to enable Matrix Output
    }
 

import com.qualcomm.hardware.matrix.MatrixDcMotorController; //导入依赖的package包/类
public void init(HardwareMap ahwMap) {

        // Initialize base Motor and Servo objects
        super.init(ahwMap);

        /*
         * Matrix controllers are special.
         *
         * A Matrix controller is one controller with both motors and servos
         * but software wants to treat it as two distinct controllers, one
         * DcMotorController, and one ServoController.
         *
         * We accomplish this by initializing Motor and Servo controller with the same name
         * given in the configuration.  In the example below the name of the controller is
         * "MatrixController"
         *
         * Normally we don't need to access the controllers themselves, we deal directly with
         * the Motor and Servo objects, but the Matrix interface is different.
         *
         * In order to activate the servos, they need to be enabled on the controller with
         * a call to pwmEnable() and disabled with a call to pwmDisable()
         *
         * Also, the Matrix Motor controller interface provides a call that enables all motors to
         * updated simultaneously (with the same value).
         */

        // Initialize Matrix Motor and Servo objects
        matrixMotorController = ahwMap.get(MatrixDcMotorController.class, "matrix controller");
        matrixServoController = ahwMap.get(ServoController.class, "matrix controller");

        // Enable Servos
        matrixServoController.pwmEnable();       // Don't forget to enable Matrix Output
    }
 

import com.qualcomm.hardware.matrix.MatrixDcMotorController; //导入依赖的package包/类
@Override
public void init()
{
    motor1 = hardwareMap.dcMotor.get("motor_1");
    motor2 = hardwareMap.dcMotor.get("motor_2");
    motor3 = hardwareMap.dcMotor.get("motor_3");
    motor4 = hardwareMap.dcMotor.get("motor_4");

    /*
     * A set of motors to use with the Matrix motor controller's
     * pending feature.  See example below.  Note that this is
     * completely optional.
     */
    motorSet.add(motor1);
    motorSet.add(motor2);
    motorSet.add(motor3);
    motorSet.add(motor4);

    servo1 = hardwareMap.servo.get("servo_1");
    servo2 = hardwareMap.servo.get("servo_2");
    servo3 = hardwareMap.servo.get("servo_3");
    servo4 = hardwareMap.servo.get("servo_4");

    /*
     * Matrix controllers are special.
     *
     * A Matrix controller is one controller with both motors and servos
     * but software wants to treat it as two distinct controllers, one
     * DcMotorController, and one ServoController.
     *
     * We accomplish this by appending Motor and Servo to the name
     * given in the configuration.  In the example below the name
     * of the controller is "MatrixController" so the motor controller
     * instance is "MatrixControllerMotor" and the servo controller
     * instance is "MatrixControllerServo".
     */
    mc = (MatrixDcMotorController)hardwareMap.dcMotorController.get("MatrixController");
    motor1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
    motor2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
    motor3.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
    motor4.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

    /*
     * Servos are not enabled by default.  Software must call pwmEnable()
     * for servos to function.
     */
    sc = hardwareMap.servoController.get("MatrixController");
    sc.pwmEnable();
}
 

import com.qualcomm.hardware.matrix.MatrixDcMotorController; //导入依赖的package包/类
@Override
public void init()
{
    motor1 = hardwareMap.dcMotor.get("motor_1");
    motor2 = hardwareMap.dcMotor.get("motor_2");
    motor3 = hardwareMap.dcMotor.get("motor_3");
    motor4 = hardwareMap.dcMotor.get("motor_4");

    /*
     * A set of motors to use with the Matrix motor controller's
     * pending feature.  See example below.  Note that this is
     * completely optional.
     */
    motorSet.add(motor1);
    motorSet.add(motor2);
    motorSet.add(motor3);
    motorSet.add(motor4);

    servo1 = hardwareMap.servo.get("servo_1");
    servo2 = hardwareMap.servo.get("servo_2");
    servo3 = hardwareMap.servo.get("servo_3");
    servo4 = hardwareMap.servo.get("servo_4");

    /*
     * Matrix controllers are special.
     *
     * A Matrix controller is one controller with both motors and servos
     * but software wants to treat it as two distinct controllers, one
     * DcMotorController, and one ServoController.
     *
     * We accomplish this by appending Motor and Servo to the name
     * given in the configuration.  In the example below the name
     * of the controller is "MatrixController" so the motor controller
     * instance is "MatrixControllerMotor" and the servo controller
     * instance is "MatrixControllerServo".
     */
    mc = (MatrixDcMotorController)hardwareMap.dcMotorController.get("MatrixController");
    motor1.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    motor2.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    motor3.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    motor4.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);

    /*
     * Servos are not enabled by default.  Software must call pwmEnable()
     * for servos to function.
     */
    sc = hardwareMap.servoController.get("MatrixController");
    sc.pwmEnable();
}
 

import com.qualcomm.hardware.matrix.MatrixDcMotorController; //导入依赖的package包/类
@Override
public void init() {
    motor1 = hardwareMap.dcMotor.get("motor_1");
    motor2 = hardwareMap.dcMotor.get("motor_2");
    motor3 = hardwareMap.dcMotor.get("motor_3");
    motor4 = hardwareMap.dcMotor.get("motor_4");

    /*
     * A set of motors to use with the Matrix motor controller's
     * pending feature.  See example below.  Note that this is
     * completely optional.
     */
    motorSet.add(motor1);
    motorSet.add(motor2);
    motorSet.add(motor3);
    motorSet.add(motor4);

    servo1 = hardwareMap.servo.get("servo_1");
    servo2 = hardwareMap.servo.get("servo_2");
    servo3 = hardwareMap.servo.get("servo_3");
    servo4 = hardwareMap.servo.get("servo_4");

    /*
     * Matrix controllers are special.
     *
     * A Matrix controller is one controller with both motors and servos
     * but software wants to treat it as two distinct controllers, one
     * DcMotorController, and one ServoController.
     *
     * We accomplish this by appending Motor and Servo to the name
     * given in the configuration.  In the example below the name
     * of the controller is "MatrixController" so the motor controller
     * instance is "MatrixControllerMotor" and the servo controller
     * instance is "MatrixControllerServo".
     */
    mc = (MatrixDcMotorController) hardwareMap.dcMotorController.get("MatrixController");
    motor1.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    motor2.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    motor3.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    motor4.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);

    /*
     * Servos are not enabled by default.  Software must call pwmEnable()
     * for servos to function.
     */
    sc = hardwareMap.servoController.get("MatrixController");
    sc.pwmEnable();
}