karx/FtcRobotController
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

Docs + other stuff

Browse source
This commit is contained in:
4a656666 2021-12-02 17:39:27 -06:00
parent 9cd15560b0
commit 4bb5c49904
1 changed files with 36 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

41
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java
View file

@ -141,8 +141,9 @@ public class API {
/**
* Set the zero-power behaviour of the motor.
*
* BRAKE means to immediately apply brakes when power is 0, and FLOAT means to come to a rolling stop.
* @param behaviour The behaviour to use
* @param behaviour the behaviour to use
*/
public void setBehaviour(MotorBehaviour behaviour) {
if (behaviour.s.equals("brake")) {
@ -152,14 +153,44 @@ public class API {
}
}
public void controlWithTwoButtons(boolean positiveControl, boolean negativeControl) {
if (positiveControl && !negativeControl) this.start(1);
else if (negativeControl && !positiveControl) this.start(-1);
/**
* Moves the motor forward or backward at the provided speed based on the button inputs
*
* @param positiveControl the button used to move the motor forward
* @param negativeControl the button used to move the motor backward
*/
public void controlWithTwoButtons(boolean positiveControl, boolean negativeControl, double speed) {
if (positiveControl && !negativeControl) this.start(speed);
else if (negativeControl && !positiveControl) this.start(-speed);
else this.stop();
}
/**
* Moves the motor forward or backward at maximum speed based on the button inputs
*
* @param positiveControl the button used to move the motor forward
* @param negativeControl the button used to move the motor backward
*/
public void controlWithTwoButtons(boolean positiveControl, boolean negativeControl) {
this.controlWithTwoButtons(positiveControl, negativeControl, 1);
}
/**
* Moves the motor forward at the provided speed if the button is pressed.
*
* @param positiveControl the button used to move forward
*/
public void controlWithOneButton(boolean positiveControl, double speed) {
this.controlWithTwoButtons(positiveControl, false, speed);
}
/**
* Moves the motor forward at maximum speed if the button is pressed.
*
* @param positiveControl the button used to move forward
*/
public void controlWithOneButton(boolean positiveControl) {
this.controlWithTwoButtons(positiveControl, false);
this.controlWithOneButton(positiveControl, 1);
}
}