Add setDirection() to Encoder interface (fixes FIRST-Tech-Challenge#203)

wheelerrobotics · Feb 2, 2023 · 8a88605 · 8a88605
1 parent 970625f
commit 8a88605
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diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.util;
 
 import com.qualcomm.robotcore.hardware.DcMotorController;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 public interface Encoder {
     class PositionVelocityPair {
@@ -15,4 +16,6 @@ public PositionVelocityPair(int position, int velocity) {
     PositionVelocityPair getPositionAndVelocity();
 
     DcMotorController getController();
+
+    void setDirection(DcMotorSimple.Direction direction);
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.util;
 
 import com.qualcomm.robotcore.hardware.DcMotorController;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 public final class OverflowEncoder implements Encoder {
@@ -54,4 +55,9 @@ public PositionVelocityPair getPositionAndVelocity() {
     public DcMotorController getController() {
         return encoder.getController();
     }
+
+    @Override
+    public void setDirection(DcMotorSimple.Direction direction) {
+        encoder.setDirection(direction);
+    }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java
@@ -36,4 +36,9 @@ public PositionVelocityPair getPositionAndVelocity() {
     public DcMotorController getController() {
         return m.getController();
     }
+
+    @Override
+    public void setDirection(DcMotorSimple.Direction direction) {
+        this.direction = direction;
+    }
 }