From da241c69d57791da6141885f87906ad64ef8c50b Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sun, 10 Mar 2024 16:05:19 +0100
Subject: [PATCH] defaults values and testMotorSpeed to test if motor_speed
 variable is >=0

---
 FTC2024WeRobotControl.java | 29 +++++++++++++++++++++++++++--
 1 file changed, 27 insertions(+), 2 deletions(-)

diff --git a/FTC2024WeRobotControl.java b/FTC2024WeRobotControl.java
index c94607a..bb75dfe 100644
--- a/FTC2024WeRobotControl.java
+++ b/FTC2024WeRobotControl.java
@@ -49,7 +49,14 @@ public class FTC2024WeRobotControl {
     public FTC2024WeRobotControl(LinearOpMode Parent) {
         this.Parent = Parent;
     }
-
+    /*
+     * test if motorSpeed is >= 0
+     */
+    public void testMotorSpeed(double motor_speed){
+        if(!((double)motor_speed>=0.0)){
+            throw new Exception("Motor Speed MUST be >= 0");
+        }
+    }
     /*
      * return a metre/sec speed
      * 
@@ -57,10 +64,14 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public double getSpeedFromMotorSpeed(double motor_speed) {
+        testMotorSpeed(motor_speed);
         double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
         double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
         return speed;
     }
+    public double getSpeedFromMotorSpeed(){
+        this.getSpeedFromMotorSpeed(1);
+    }
 
     /*
      * return the needed time for a distance
@@ -71,9 +82,13 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public double time_for_dist(double dist, double motor_speed) {
+        testMotorSpeed(motor_speed);
         double speed = getSpeedFromMotorSpeed(motor_speed);
         return (dist / speed);
     }
+    public double time_for_dist(double dist){
+        this.time_for_dist(dist,1);
+    }
 
     /*
      * go forward
@@ -85,6 +100,7 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public void forward(double n_tiles, double motor_speed) {
+        testMotorSpeed(motor_speed);
         double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
         double start_time = Parent.runtime.seconds();
         while (Parent.opModeIsActive() && ((Parent.runtime.seconds() - start_time) < total_time)) {
@@ -109,8 +125,12 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public void backward(double n_tiles, double motor_speed) {
+        testMotorSpeed(motor_speed);
         forward(n_tiles, -motor_speed);
     }
+    public void backward(double n_tiles){
+        this.forward(n_tiles,1);
+    }
 
     /*
      * harvest
@@ -121,7 +141,9 @@ public class FTC2024WeRobotControl {
     public void harvest(double motor_speed) {
         Parent.harvestmotor.setPower(motor_speed);
     }
-
+    public void harvest(){
+        this.harvest(1);
+    }
     /*
      * harvest
      * 
@@ -148,4 +170,7 @@ public class FTC2024WeRobotControl {
         Parent.lm.setPower(0);
         Parent.rm.setPower(0);
     }
+    public void rotate(douvle angle){
+        this.rotate(tour_par_minutes, 1);
+    }
 }