Package org.edu_nation.easy_ftc.mechanism

Class Lift

java.lang.Object

org.edu_nation.easy_ftc.mechanism.Lift

public class Lift
extends Object

Implements a lift by extending the functionality of MotorMechanism

See Also:

• Lift.Builder
• Lift.Direction

Nested Class Summary

Nested Classes

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

Method Summary

Modifier and Type	Method	Description
void	command(Lift.Direction direction, double measurement, double power)	Initiate an automated lift movement
void	control()	Enable teleoperated lift movement with gamepad (lt, rt), with multiplier = 1.0
void	control(double multiplier)	Enable teleoperated lift movement with gamepad (lt, rt), scaling by multiplier

Methods inherited from class java.lang.Object

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

Method Details

control

public void control(double multiplier)

Enable teleoperated lift movement with gamepad (lt, rt), scaling by multiplier

Parameters:

multiplier - fraction of total power/velocity to use for mechanism control at given input value

Throws:

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

control

public void control()

Enable teleoperated lift movement with gamepad (lt, rt), with multiplier = 1.0

command

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

Initiate an automated lift movement

Parameters:

direction - direction to move the mechanism; see Lift.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]