werobot/ftc2024-robotcode
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

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

Browse source
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
Show stats Download patch file Download diff file Expand all files Collapse all files

29
FTC2024WeRobotControl.java
View file

@ -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);
}
}