/*
* handleBattery
*
* The Matrix controller has a separate battery whose voltage can be read.
*/
protected void handleBattery() {
if ((firstBattery) || (spamPrevention.time() > SPAM_PREVENTION_FREQ)) {
battery = mc.getBattery();
spamPrevention.reset();
firstBattery = false;
}
telemetry.addData("Battery: ", ((float) battery / 1000));
}
/*
* handleMotors
*
* Oscillate the motors.
*/
protected void handleMotors() {
if ((firstMotors) || (motorOscTimer.time() > MOTOR_OSC_FREQ)) {
motorPower = -motorPower;
/*
* The MatrixDcMotorController's setMotorPower() method may take
* a collection of motors. If this is chosen, then the controller will
* set a pending bit. The pending bit tells the controller to
* defer turning on, or changing the current set point, for a motor
* until the pending bit is cleared.
*
* When the pending bit is cleared all motor power values are applied
* simultaneously. setMotorPower() handles the pending bit for you.
*/
mc.setMotorPower(motorSet, motorPower);
motorOscTimer.reset();
firstMotors = false;
}
}