对状态机使用数组列表

我希望能够像枚举数组列表一样向枚举变量状态机添加个案。我通过创建一个数组列表并使用大小来告诉它有多少个案例，然后使用for循环执行它们。问题是我的方法调用完成之前会进入下一个案例。如何让程序等待方法完成后再继续，而不使用时间延迟，因为时间可能因不同情况而异。这种情况和方法是在loop（）方法的代码底部。对状态机使用数组列表

package com.qualcomm.ftcrobotcontroller.opmodes; 

import com.qualcomm.hardware.HiTechnicNxtCompassSensor; 
import com.qualcomm.robotcore.eventloop.opmode.OpMode; 
import com.qualcomm.robotcore.hardware.DcMotor; 
import com.qualcomm.robotcore.hardware.DcMotorController; 
import com.qualcomm.robotcore.util.ElapsedTime; 

import java.util.ArrayList; 

/** 
* Created by Robotics on 12/11/2015. 
*/ 
public class RobotAction extends OpMode { 

    //HiTechnicNxtCompassSensor compassSensor; 
    //double compassvalue = compassSensor.getDirection(); 
    double compassvalue; 
    double lastcompassvalue; 

    DcMotor rightdrive; 
    DcMotor leftdrive; 
    final double fullpower = 1; 

    double angle; 
    double distance; 

    final double wheelediameter = 4.0; 
    final double circumference = wheelediameter * Math.PI; 
    final double gearratio = 1; 
    final double countsperrotation = 1440; 


    double wheelrotations = distance/circumference; 
    double motorrotations = wheelrotations * gearratio; 
    double encodercounts = motorrotations * countsperrotation; 

    int currentpositionright; 

    int step; 

    ElapsedTime time; 

    String status; 
    String action; 

    public enum RelativePosition {North, NorthEast, East, SouthEast, South, SouthWest, West, NorthWest} 
    RelativePosition relativeposition; 

    private void Action(double angle, int compassvalue, double encodercounts, RelativePosition relativeposition) { 

     action = "running"; 

     lastcompassvalue = compassvalue; 

     switch(relativeposition) { 


      case North: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (rightdrive.getCurrentPosition() < encodercounts) { 
        rightdrive.setTargetPosition((int) (encodercounts + 1)); 
        leftdrive.setTargetPosition((int) (encodercounts + 1)); 

        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

        rightdrive.setDirection(DcMotor.Direction.REVERSE); 
        rightdrive.setPower(.5); 
        leftdrive.setPower(.5); 

       } 
       else { 
        rightdrive.setPower(0); 
        leftdrive.setPower(0); 
        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
       } 
       break; 

      case NorthEast: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue > lastcompassvalue - (90-angle)) { 
        rightdrive.setDirection(DcMotor.Direction.FORWARD); 
        rightdrive.setPower(fullpower); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts + 1); 
         leftdrive.setTargetPosition((int) encodercounts + 1); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setDirection(DcMotor.Direction.REVERSE); 
         rightdrive.setPower(fullpower); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 

      case East: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue > lastcompassvalue - 90) { 
        rightdrive.setDirection(DcMotor.Direction.FORWARD); 
        rightdrive.setPower(fullpower); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts + 1); 
         leftdrive.setTargetPosition((int) encodercounts + 1); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setDirection(DcMotor.Direction.REVERSE); 
         rightdrive.setPower(fullpower); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 

      case SouthEast: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue > lastcompassvalue - (90+angle)) { 
        rightdrive.setDirection(DcMotor.Direction.FORWARD); 
        rightdrive.setPower(fullpower); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts); 
         leftdrive.setTargetPosition((int) encodercounts); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setDirection(DcMotor.Direction.REVERSE); 
         rightdrive.setPower(fullpower); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 

      case South: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue > lastcompassvalue - 180) { 
        rightdrive.setDirection(DcMotor.Direction.FORWARD); 
        rightdrive.setPower(fullpower); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts + 1); 
         leftdrive.setTargetPosition((int) encodercounts + 1); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setDirection(DcMotor.Direction.REVERSE); 
         rightdrive.setPower(fullpower); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 

      case SouthWest: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue < lastcompassvalue + (90+angle)) { 
        rightdrive.setPower(fullpower); 
        leftdrive.setDirection(DcMotor.Direction.REVERSE); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts + 1); 
         leftdrive.setTargetPosition((int) encodercounts + 1); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setPower(fullpower); 
         leftdrive.setDirection(DcMotor.Direction.FORWARD); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 

      case West: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue < lastcompassvalue + 90) { 
        rightdrive.setPower(fullpower); 
        leftdrive.setDirection(DcMotor.Direction.REVERSE); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts + 1); 
         leftdrive.setTargetPosition((int) encodercounts + 1); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setPower(fullpower); 
         leftdrive.setDirection(DcMotor.Direction.FORWARD); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 

      case NorthWest: 
       currentpositionright = rightdrive.getCurrentPosition(); 

       if (compassvalue < lastcompassvalue + (90-angle)) { 
        rightdrive.setPower(fullpower); 
        leftdrive.setDirection(DcMotor.Direction.REVERSE); 
        leftdrive.setPower(fullpower); 
       } 
       else { 
        if(rightdrive.getCurrentPosition() < encodercounts) { 
         rightdrive.setTargetPosition((int) encodercounts + 1); 
         leftdrive.setTargetPosition((int) encodercounts + 1); 

         rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION); 

         rightdrive.setPower(fullpower); 
         leftdrive.setDirection(DcMotor.Direction.FORWARD); 
         leftdrive.setPower(fullpower); 
        } 
        else { 
         rightdrive.setPower(0); 
         leftdrive.setPower(0); 
         rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
         leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
        } 
       } 

       break; 
     } 
     action = "done"; 
    } 

    private final ArrayList<Integer> Step = new ArrayList<>(); 

    @Override 
    public void init() { 

     rightdrive = hardwareMap.dcMotor.get("right_drive"); 
     leftdrive = hardwareMap.dcMotor.get("left_drive"); 

     rightdrive.setDirection(DcMotor.Direction.REVERSE); 

     leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 
     rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS); 


     step = 1; 
     Step.add(step); 
     //compassSensor = (HiTechnicNxtCompassSensor) hardwareMap.compassSensor.get("compass"); 
     compassvalue = 0; 

     relativeposition = RelativePosition.North; 

     distance = 12; 

     angle = 60; 



    } 

    public void start() { 
     status = "Running"; 

     time = new ElapsedTime(); 
     time.reset(); 

    } 

    @Override 
    public void loop() { 

     telemetry.addData("Status", status); 
     double currenttime = time.time(); 

     int size = Step.size(); 
     for (int i=0; i<size; i++) { 
      int element = Step.get(i); 

      switch (element) { 
       case 1: 

        Action(angle, (int) compassvalue,encodercounts,relativeposition); 

        step++; 
        Step.add(step); 

        break; 
       case 2: 

        rightdrive.setPower(0); 
        leftdrive.setPower(0); 

        status = "Done"; 

      } 
     } 


    } 
}

来源

2015-12-14 5108 AmishElectricians

尽量只保留相关的代码;那里有很多可以取出的代码。使读起来更容易！ – RafaelC

我的歉意我试图解决这个问题，我自己尝试了几个不同的事情。我可能在调试时留下了一些内容。 –

，我想到的第一件事情，一个天真的解决方案是使用一个共同的全球布尔作为一个标志来检查方法仍在运行。当然，这是基于我的假设，一次只有一个方法可以等待，因为根据你的问题，你不想运行另一种方法，直到第一个方法完成执行。

编辑：

设置一个布尔值，真当程序运行时，开始你的方法执行之前。

然后每次方法开始执行时，将其设置为false，然后在从方法返回之前将其设置为true。在发出方法调用的循环中，只需在调用另一个方法之前检查该变量即可。

来源

2015-12-14 04:22:00

所以基本上有一个布尔值在函数的开头设置为true，然后在最后设置为false？我对Java编程相当陌生，这是我第一个广泛的程序，这只是整件事情的一部分。 –

@ 5108AmishElectrians编辑进行更详细的解释。希望有所帮助。 –

今天我会尝试一下，并报告它是如何工作的。 –

对状态机使用数组列表

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