Add getters for 'demand' and 'controlMode' in FakeMotor#77
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This is in preparation for making the 'demand' field package-scope. Now that FakeMotor has an 'isStopped' field, allowing code outside of FakeMotor to directly update the value is error-prone.
vdikov
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Oct 13, 2025
vdikov
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Oct 13, 2025
| private ControlMode controlMode = ControlMode.VOLTAGE; | ||
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| /** Gets the most recently applied demand value for this motor. */ | ||
| public final double getDemand() { |
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I was wondering the other day, if we want to make the Motor abstraction be a generic that takes the control mode as a template parameter. Then, the getDemand() should return demand in the type that matches the control mode - Position, Velocity, Voltage, etc.
This way, we could potentially prevent improper uses of the demand value (e.g., use a demand value as a voltage, from a motor that has been set up for speed).
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@vdikov That's an interesting idea. Perhaps create an issue tracking that?
kcooney
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Oct 15, 2025
This includes the following: - Prospect-Robotics/lib2813#46 - Prospect-Robotics/lib2813#67 - Prospect-Robotics/lib2813#71 - Prospect-Robotics/lib2813#75 - Prospect-Robotics/lib2813#77 - Prospect-Robotics/lib2813#78 - Prospect-Robotics/lib2813#80 - Prospect-Robotics/lib2813#81 - Prospect-Robotics/lib2813#85
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This is in preparation for making the 'demand' field package-scope. Now that FakeMotor has an 'isStopped' field, allowing code outside of FakeMotor to directly update the value is error-prone.