attach java_Java Subject.attach方法代碼示例

import com.wildstangs.subjects.base.Subject; //導入方法依賴的package包/類

public WsDriveBase(String name) {

super(name);

WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);

TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);

THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);

HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);

THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);

HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);

MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);

ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);

DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);

SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);

SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);

FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);

FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);

MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);

MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);

DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);

DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);

STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);

DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);

USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);

QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);

QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

//Anti-Turbo button

Subject subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON8);

subject.attach(this);

//Turbo button

subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON7);

subject.attach(this);

//Shifter Button

subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON6);

subject.attach(this);

//Left/right slow turn buttons

subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON1);

subject.attach(this);

subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON3);

subject.attach(this);

//Initialize the drive base encoders

leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);

leftDriveEncoder.reset();

leftDriveEncoder.start();

rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);

rightDriveEncoder.reset();

rightDriveEncoder.start();

//Initialize the gyro

//@TODO: Get the correct port

driveHeadingGyro = new Gyro(1);

//Initialize the PIDs

driveDistancePidInput = new WsDriveBaseDistancePidInput();

driveDistancePidOutput = new WsDriveBaseDistancePidOutput();

driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid");

driveHeadingPidInput = new WsDriveBaseHeadingPidInput();

driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput();

driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid");

driveSpeedPidInput = new WsDriveBaseSpeedPidInput();

driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput();

driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid");

continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0);

init();

}