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