合并 RuntimeOption.java 和 Params

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/SimpleMecanumDrive.java

@@ -16,8 +16,8 @@
 import org.firstinspires.ftc.teamcode.DriveControls.Localizers.definition.Localizer;
 import org.firstinspires.ftc.teamcode.Hardwares.Classic;
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Motors;
+import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.Robot;
-import org.firstinspires.ftc.teamcode.RuntimeOption;
 import org.firstinspires.ftc.teamcode.utils.Client;
 import org.firstinspires.ftc.teamcode.utils.Complex;
 import org.firstinspires.ftc.teamcode.utils.Mathematics;
@@ -299,17 +299,17 @@ public void runDriveCommands(@NonNull LinkedList < DriveCommand > commands){
 				client.changeDate("progress", progress +"%");
 				Pose2d aim=getAimPositionThroughTrajectory(singleCommand,progress);
 
-				if(et>st+estimatedTime+ timeOutProtectionMills&&RuntimeOption.useOutTimeProtection){//保护机制
+				if(et>st+estimatedTime+ timeOutProtectionMills&& Params.useOutTimeProtection){//保护机制
 					state=State.BrakeDown;
 					motors.updateDriveOptions();
 					break;
 				}
 
-				if(RuntimeOption.usePIDInAutonomous){
+				if(Params.usePIDInAutonomous){
 					if(Math.abs(aim.position.x- RobotPosition.position.x)> pem
 							|| Math.abs(aim.position.y- RobotPosition.position.y)> pem
 							|| Math.abs(aim.heading.toDouble()- RobotPosition.heading.toDouble())> aem
-							|| RuntimeOption.alwaysRunPIDInAutonomous ){
+							|| Params.alwaysRunPIDInAutonomous ){
 						//间断地调用pid可能会导致pid的效果不佳
 						pidProcessor.inaccuracies[0]=aim.position.x- RobotPosition.position.x;
 						pidProcessor.inaccuracies[1]=aim.position.y- RobotPosition.position.y;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/Classic.java

@@ -10,7 +10,6 @@
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Motors;
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Sensors;
 import org.firstinspires.ftc.teamcode.Params;
-import org.firstinspires.ftc.teamcode.RuntimeOption;
 import org.firstinspires.ftc.teamcode.utils.Mathematics;
 import org.firstinspires.ftc.teamcode.utils.Enums.driveDirection;
 import org.firstinspires.ftc.teamcode.utils.Enums.Quadrant;
@@ -52,7 +51,7 @@ public void drive(@NonNull driveDirection driveDirection, double power) {
 				Log.e("UnExpectingCode","ErrorCode#1");
 		}
 
-		if( RuntimeOption.runUpdateWhenAnyNewOptionsAdded ){
+		if( Params.runUpdateWhenAnyNewOptionsAdded ){
 			sensors.update();
 			motors.update(sensors.FirstAngle);
 		}
@@ -92,7 +91,7 @@ public void drive(@NonNull driveDirection driveDirection, @NonNull Quadrant quad
 				break;
 		}
 
-		if( RuntimeOption.runUpdateWhenAnyNewOptionsAdded ){
+		if( Params.runUpdateWhenAnyNewOptionsAdded ){
 			sensors.update();
 			motors.update(sensors.FirstAngle);
 		}
@@ -140,7 +139,7 @@ public void STOP(){
 		motors.updateDriveOptions(sensors.FirstAngle);
 	}
 	public void operateThroughGamePad(@NonNull Gamepad gamepad){
-		if(RuntimeOption.useRightStickYToConfigRobotSpeed){
+		if(Params.useRightStickYToConfigRobotSpeed){
 			BufPower+=gamepad.right_stick_y*0.6;
 			BufPower=Mathematics.intervalClip(BufPower,-1,1);
 			motors.simpleMotorPowerController(

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/Structure.java

@@ -9,7 +9,7 @@
 
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Motors;
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Servos;
-import org.firstinspires.ftc.teamcode.RuntimeOption;
+import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.utils.Enums.ClipPosition;
 import org.firstinspires.ftc.teamcode.utils.Exceptions.UnKnownErrorsException;
 
@@ -41,15 +41,15 @@ private void openClips(){
 		OpenFrontClip();
 		OpenRearClip();
 
-		if( RuntimeOption.runUpdateWhenAnyNewOptionsAdded ){
+		if( Params.runUpdateWhenAnyNewOptionsAdded ){
 			servos.update();
 		}
 	}
 	private void closeClips(){
 		CloseFrontClip();
 		CloseRearClip();
 
-		if( RuntimeOption.runUpdateWhenAnyNewOptionsAdded ){
+		if( Params.runUpdateWhenAnyNewOptionsAdded ){
 			servos.update();
 		}
 	}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/DeviceMap.java

@@ -44,7 +44,7 @@ public HardwareDevice getDevice(@NonNull HardwareDevices hardwareDevices){
 		if(devices.containsKey(hardwareDevices)){
 			return devices.get(hardwareDevices);
 		}else{
-			throw new NullPointerException("Device Not Found:"+ hardwareDevices.toString());
+			throw new NullPointerException("Device Not Found:"+ hardwareDevices);
 		}
 	}
 	public void setDirection(@NonNull HardwareDevices hardwareDevices, DcMotorSimple.Direction direction){

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/Motors.java

@@ -3,7 +3,7 @@
 import com.acmerobotics.roadrunner.Vector2d;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
-import org.firstinspires.ftc.teamcode.RuntimeOption;
+import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.utils.Complex;
 import org.firstinspires.ftc.teamcode.utils.Mathematics;
 import org.firstinspires.ftc.teamcode.Hardwares.namespace.HardwareDevices;
@@ -54,10 +54,10 @@ public void clearDriveOptions(){
 
 	/**
 	 * @param headingDeg 必须在使用driverUsingAxisPowerInsteadOfCurrentPower时给出，其他状态下给出是无效的
-	 * @see org.firstinspires.ftc.teamcode.RuntimeOption
+	 * @see org.firstinspires.ftc.teamcode.Params
 	 */
 	public void updateDriveOptions(double headingDeg){
-		if( RuntimeOption.driverUsingAxisPowerInsteadOfCurrentPower ){
+		if( Params.driverUsingAxisPowerInsteadOfCurrentPower ){
 			double currentXPower,currentYPower,currentHeadingPower=headingPower;
 			headingDeg= Mathematics.angleRationalize(headingDeg);//防止有问题
 			Complex aim=new Complex(new Vector2d(xAxisPower,yAxisPower)),robotHeading=new Complex(headingDeg);
@@ -98,15 +98,15 @@ public void updateStructureOptions(){
 	}
 	/**
 	 * @param headingDeg 必须在使用driverUsingAxisPowerInsteadOfCurrentPower时给出，其他状态下给出是无效的
-	 * @see org.firstinspires.ftc.teamcode.RuntimeOption
+	 * @see org.firstinspires.ftc.teamcode.Params
 	 */
 	public void update(double headingDeg){
 		updateDriveOptions(headingDeg);
 		try{
 			updateStructureOptions();
 		}catch (Exception ignored){}
 
-		if(RuntimeOption.autoPrepareForNextOptionWhenUpdate){
+		if(Params.autoPrepareForNextOptionWhenUpdate){
 			clearDriveOptions();
 		}
 	}
@@ -116,7 +116,7 @@ public void update(){
 			updateStructureOptions();
 		}catch (Exception ignored){}
 
-		if(RuntimeOption.autoPrepareForNextOptionWhenUpdate){
+		if(Params.autoPrepareForNextOptionWhenUpdate){
 			clearDriveOptions();
 		}
 	}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java

@@ -70,4 +70,20 @@ public final class Params {
 	 * 在执行手动程序时，由Structure下达的SuspensionArmPower命令的倍率因数
 	 */
 	public static double factorSuspensionArmPower;
+	/**让机器自动在运行<code>update()</code>时，自动清除所有电机的<code>power</code>*/
+	public static boolean autoPrepareForNextOptionWhenUpdate = true;
+	/**让机器自动在执行提供的操作时，自动在更改任何<code>power</code>变量后执行<code>update()</code>*/
+	public static boolean runUpdateWhenAnyNewOptionsAdded = false;
+	/**在对舵机下达命令时，自动等待舵机到位*/
+	public static boolean waitForServoUntilThePositionIsInPlace = false;
+	/**让机器即使在不调用<code>pid</code>时，依然执行<code>pid.update()</code>*/
+	public static boolean alwaysRunPIDInAutonomous = false;
+	/**在自动程序中使用<code>pid</code>*/
+	public static boolean usePIDInAutonomous = true;
+	/**必须在自动程序中保持改变量为<code>true</code>*/
+	public static boolean driverUsingAxisPowerInsteadOfCurrentPower=true;
+	/**在手动程序中，使用<code>gamepad1</code>的<code>right_stick_y</code>来控制底盘速度*/
+	public static boolean useRightStickYToConfigRobotSpeed = true;
+	/**启用超时保护器*/
+	public static boolean useOutTimeProtection = true;
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java

@@ -71,8 +71,8 @@ public Robot(@NonNull HardwareMap hardwareMap, @NonNull runningState state, @Non
 		if (Objects.requireNonNull(state) == runningState.Autonomous) {
 			InitInAutonomous();
 		} else if (state == runningState.ManualDrive) {
-			RuntimeOption.runUpdateWhenAnyNewOptionsAdded=true;
-			RuntimeOption.driverUsingAxisPowerInsteadOfCurrentPower=false;
+			Params.runUpdateWhenAnyNewOptionsAdded=true;
+			Params.driverUsingAxisPowerInsteadOfCurrentPower=false;
 
 			InitInManualDrive();
 		} else {
@@ -113,14 +113,14 @@ public void update()  {
 		sensors.update();
 		servos.update();
 		encoders.update();
-		if(RuntimeOption.driverUsingAxisPowerInsteadOfCurrentPower) {
+		if(Params.driverUsingAxisPowerInsteadOfCurrentPower) {
 			motors.update(sensors.FirstAngle);
 		}else{
 			motors.update();
 		}
 
 		client.changeDate("State",state.name());
-		while(RuntimeOption.waitForServoUntilThePositionIsInPlace && servos.InPlace()){
+		while(Params.waitForServoUntilThePositionIsInPlace && servos.InPlace()){
 			//当前最方便的Sleep方案
 			Actions.runBlocking(new SleepAction(0.1));
 		}