SimpleMotor.cpp

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#include "ART/SimpleMotor.h"
 
namespace art
{
 
    SimpleMotor::SimpleMotor(vex::motor mot) : vex::motor(mot) {}
 
    SimpleMotor &SimpleMotor::withSpeedMode(bool speedMode)
    {
        setSpeedMode(speedMode);
        return *this;
    }
 
    void SimpleMotor::setSpeedMode(bool speedMode)
    {
        m_speedMode = speedMode;
    }
 
    bool SimpleMotor::getSpeedMode()
    {
        return m_speedMode;
    }
 
    void SimpleMotor::set(double cmd){
        m_cmd = cmd;
        if (m_speedMode)
        {
            spin(vex::fwd, m_cmd, vex::pct);
        }
        else
        {
            spin(vex::fwd, m_cmd * 12 / 100.f, vex::volt);
        }
    }
 
    double SimpleMotor::get(){
        return m_cmd;
    }
} // namespace art