SCDS/FTCRoadRunnerRobotics
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Add setDirection() to Encoder interface (fixes #203)

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This commit is contained in:
Ryan Brott
2023-01-28 18:32:35 -08:00
parent 970625f1c0
commit 8a88605057
3 changed files with 14 additions and 0 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.util; package org.firstinspires.ftc.teamcode.util;
import com.qualcomm.robotcore.hardware.DcMotorController; import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
public interface Encoder { public interface Encoder {
class PositionVelocityPair { class PositionVelocityPair {
@ -15,4 +16,6 @@ public interface Encoder {
PositionVelocityPair getPositionAndVelocity(); PositionVelocityPair getPositionAndVelocity();
DcMotorController getController(); DcMotorController getController();
void setDirection(DcMotorSimple.Direction direction);
} }

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.util; package org.firstinspires.ftc.teamcode.util;
import com.qualcomm.robotcore.hardware.DcMotorController; import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime; import com.qualcomm.robotcore.util.ElapsedTime;
public final class OverflowEncoder implements Encoder { public final class OverflowEncoder implements Encoder {
@ -54,4 +55,9 @@ public final class OverflowEncoder implements Encoder {
public DcMotorController getController() { public DcMotorController getController() {
return encoder.getController(); return encoder.getController();
} }
@Override
public void setDirection(DcMotorSimple.Direction direction) {
encoder.setDirection(direction);
}
} }

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java
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@ -36,4 +36,9 @@ public final class RawEncoder implements Encoder {
public DcMotorController getController() { public DcMotorController getController() {
return m.getController(); return m.getController();
} }
@Override
public void setDirection(DcMotorSimple.Direction direction) {
this.direction = direction;
}
} }