当程序调用命令时，我无法弄清楚为什么以下命令不起作用。我在Java中没有很好的背景，但据我所知，当我按下调用该命令的操纵杆上的按钮时，该命令应该执行print行语句。我不确定问题是否可能是命令需要某个地方的Action侦听器或按钮侦听器，或者我是否需要以某种方式将该命令与同一个控制台相关联。应该只有一个可识别的控制台可以打印到，我知道原始程序中的其他打印行语句的作品......对吗？
这是library可能会有所帮助
该程序：
/*--------------------------------------------------------------------------
--*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.
*/
/* Open Source Software - may be modified and shared by FRC teams. The code
*/
/* must be accompanied by the FIRST BSD license file in the root directory
of */
/* the project.
*/
/*--------------------------------------------------------------------------
--*/
package org.usfirst.frc.team5621.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.buttons.Button;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(0), new Spark(1));
static Joystick m_stick = new Joystick(1);
private Timer m_timer = new Timer();
static Subsystem ExampleSubsystem;
Command ExampleCommand;
Command CompressCommand;
Command DecompressCommand;
Command OpenClawCommand;
Command CloseClawCommand;
Command CompressorToggleCommand;
public static class OI {
//Create Joystick and Buttons
static Joystick m_stick = new Joystick(1);
static Button button1 = new JoystickButton(m_stick, 1);
static Button button2 = new JoystickButton(m_stick, 2);
static Button button3 = new JoystickButton(m_stick, 3);
static Button button4 = new JoystickButton(m_stick, 4);
static Button button5 = new JoystickButton(m_stick, 5);
static Button button6 = new JoystickButton(m_stick, 6);
static Button button7 = new JoystickButton(m_stick, 7);
static Button button8 = new JoystickButton(m_stick, 8);
public OI() {
// Define Commands for Joystick Buttons
OI.button1.whileHeld(new CompressorToggleCommand());
OI.button2.whileHeld(new CompressCommand());
OI.button3.whileHeld(new DecompressCommand());
OI.button4.whileHeld(new OpenClawCommand());
OI.button5.whileHeld(new CloseClawCommand());
OI.button6.whileHeld(new ExampleCommand());
OI.button7.whileHeld(new ExampleCommand());
OI.button8.whileHeld(new ExampleCommand());
}
}
public class Compressor {
Compressor c = new Compressor();
}
public class Solenoid {
Solenoid exampleSolenoid = new Solenoid();
}
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode.
*/
@Override
public void autonomousInit() {
m_timer.reset();
m_timer.start();
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
// Drive for 2 seconds
if (m_timer.get() < 2.0) {
m_robotDrive.arcadeDrive(0.5, 0.0); // drive forwards half speed
} else {
m_robotDrive.stopMotor(); // stop robot
}
}
/**
* This function is called once each time the robot enters teleoperated mode.
*/
@Override
public void teleopInit() {
System.out.println("TeleOperated Mode Enabled");
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
}
}
命令
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package org.usfirst.frc.team5621.robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* An example command. You can replace me with your own command.
*/
public class CompressCommand extends Command {
public CompressCommand() {
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
System.out.println("Compressing...");
exampleSolenoid.set(true);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
}
首先，我想说在Stack Overflow上看到一位FRC程序员很高兴。与您的问题有关，您的问题可能在于您在同一文件中声明多个公共类。这在Java编程中是非常糟糕的做法。您要解决的问题是：
public OI() {
// Define Commands for Joystick Buttons
OI.button1.whileHeld(new CompressorToggleCommand());
OI.button2.whileHeld(new CompressCommand());
OI.button3.whileHeld(new DecompressCommand());
OI.button4.whileHeld(new OpenClawCommand());
OI.button5.whileHeld(new CloseClawCommand());
OI.button6.whileHeld(new ExampleCommand());
OI.button7.whileHeld(new ExampleCommand());
OI.button8.whileHeld(new ExampleCommand());
}
再一次，嵌套公共类是不好的做法，但真正导致问题的是你为OI类的构造函数中的每个按钮设置按钮按钮操作，但你实际上从未实际创建一个OI对象因此，永远不会调用构造函数，并且永远不会运行代码。在您的robotInit函数中，创建一个新的OI对象：
void robotInit() {
OI myOI = new OI();
}
还要从OI类中的语句中删除OI标记。这不是必需的。这样：
OI.button1.whileHeld(new CompressorToggleCommand());
变成这样：
button1.whileHeld(new CompressorToggleCommand());
我还建议将所有对象初始化移动到robotInit。我建议将所有嵌套类分别放在自己的文件中，并确保在主要的Robot类中创建所有这些类的对象。我还建议阅读一些基本的面向对象编程概念，如how constructors work，以及how to use classes and objects in Java。也可以阅读您在FRC API Reference中使用的FRC功能