public void drive(String name, double power, double targetEncoderValue, Direction driveDirection)
throws InterruptedException {
Direction motorDirection = Direction.MOTOR_FORWARD;
if (driveDirection == Direction.DRIVE_BACKWARD || driveDirection == Direction.DRIVE_LEFT) {
motorDirection = Direction.MOTOR_BACKWARD;
}
leftMotorTask.startMotor(name + ": A - Left Motor", power, targetEncoderValue, motorDirection);
motorDirection = Direction.MOTOR_FORWARD;
if (driveDirection == Direction.DRIVE_BACKWARD || driveDirection == Direction.DRIVE_RIGHT) {
motorDirection = Direction.MOTOR_BACKWARD;
}
rightMotorTask.startMotor(
name + ": A - Right Motor", power, targetEncoderValue, motorDirection);
}
public boolean targetReached() {
return leftMotorTask.targetReached() || rightMotorTask.targetReached();
}
public void stop() throws InterruptedException {
leftMotorTask.stop();
rightMotorTask.stop();
}
public boolean isDriving() {
return leftMotorTask.isRunning() || rightMotorTask.isRunning();
}