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defaults values and testMotorSpeed to test if motor_speed variable is >=0

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This commit is contained in:
GZod01 2024-03-10 16:05:19 +01:00
parent f85c3577b3
commit da241c69d5
1 changed files with 27 additions and 2 deletions
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29
FTC2024WeRobotControl.java
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@ -49,7 +49,14 @@ public class FTC2024WeRobotControl {
public FTC2024WeRobotControl(LinearOpMode Parent) { public FTC2024WeRobotControl(LinearOpMode Parent) {
this.Parent = 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 * return a metre/sec speed
* *
@ -57,10 +64,14 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public double getSpeedFromMotorSpeed(double motor_speed) { public double getSpeedFromMotorSpeed(double motor_speed) {
testMotorSpeed(motor_speed);
double speed_tour_par_minutes = this.tour_par_minutes * motor_speed; double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter; double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
return speed; return speed;
} }
public double getSpeedFromMotorSpeed(){
this.getSpeedFromMotorSpeed(1);
}
/* /*
* return the needed time for a distance * return the needed time for a distance
@ -71,9 +82,13 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public double time_for_dist(double dist, double motor_speed) { public double time_for_dist(double dist, double motor_speed) {
testMotorSpeed(motor_speed);
double speed = getSpeedFromMotorSpeed(motor_speed); double speed = getSpeedFromMotorSpeed(motor_speed);
return (dist / speed); return (dist / speed);
} }
public double time_for_dist(double dist){
this.time_for_dist(dist,1);
}
/* /*
* go forward * go forward
@ -85,6 +100,7 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public void forward(double n_tiles, double motor_speed) { 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 total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
double start_time = Parent.runtime.seconds(); double start_time = Parent.runtime.seconds();
while (Parent.opModeIsActive() && ((Parent.runtime.seconds() - start_time) < total_time)) { while (Parent.opModeIsActive() && ((Parent.runtime.seconds() - start_time) < total_time)) {
@ -109,8 +125,12 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public void backward(double n_tiles, double motor_speed) { public void backward(double n_tiles, double motor_speed) {
testMotorSpeed(motor_speed);
forward(n_tiles, -motor_speed); forward(n_tiles, -motor_speed);
} }
public void backward(double n_tiles){
this.forward(n_tiles,1);
}
/* /*
* harvest * harvest
@ -121,7 +141,9 @@ public class FTC2024WeRobotControl {
public void harvest(double motor_speed) { public void harvest(double motor_speed) {
Parent.harvestmotor.setPower(motor_speed); Parent.harvestmotor.setPower(motor_speed);
} }
public void harvest(){
this.harvest(1);
}
/* /*
* harvest * harvest
* *
@ -148,4 +170,7 @@ public class FTC2024WeRobotControl {
Parent.lm.setPower(0); Parent.lm.setPower(0);
Parent.rm.setPower(0); Parent.rm.setPower(0);
} }
public void rotate(douvle angle){
this.rotate(tour_par_minutes, 1);
}
} }