Package org.edu_nation.easy_ftc.mechanism

Class Arm

java.lang.Object

org.edu_nation.easy_ftc.mechanism.Arm

public class Arm
extends Object

Implements an arm by extending the functionality of MotorMechanism

See Also:

• Arm.Builder
• Arm.Direction

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Arm.Builder	Construct an Arm object using the builder design pattern
static enum	Arm.Direction	Directions that can be passed to command(direction, measurement, power)

Method Summary

Modifier and Type	Method	Description
void	command(Arm.Direction direction, double measurement, double power)	Initiate an automated arm movement
void	control()	Enable teleoperated arm movement with gamepad (lb, rb) at a power of 0.5
void	control(double power)	Enable teleoperated arm movement with gamepad (lb, rb) at the specified power

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

control

public void control(double power)

Enable teleoperated arm movement with gamepad (lb, rb) at the specified power

Parameters:

power - fraction of total power/velocity to use for mechanism control

Throws:

IllegalArgumentException - if power is not in the interval (0, 1]

control

public void control()

Enable teleoperated arm movement with gamepad (lb, rb) at a power of 0.5

command

public void command(Arm.Direction direction,
 double measurement,
 double power)

Initiate an automated arm movement

Parameters:

direction - direction to move the mechanism; see Arm.Direction for accepted values

measurement - time(s) or distance to move the mechanism

power - fraction of total power/velocity to use for mechanism command

Throws:

NullPointerException - if direction is null

IllegalArgumentException - if direction is an unexpected value

IllegalArgumentException - if measurement < 0

IllegalArgumentException - if power is not in the interval (0, 1]