com.flash3388.flashlib.io.devices.SpeedControllerGroup Maven / Gradle / Ivy

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package com.flash3388.flashlib.io.devices;

import com.castle.util.closeables.Closer;
import com.flash3388.flashlib.control.Direction;

import java.io.IOException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.Collections;
import java.util.List;

/**
 * A container for multiple speed controllers. Grouping controllers in such manner allows simultaneous 
 * control of several motors. When motors should be activated together, this container is extremely useful.
 *
 * @since FlashLib 1.0.0
 */
public class SpeedControllerGroup implements SpeedController, DeviceGroup {

	private final List mControllers;
	private boolean mIsInverted;

	/**
	 * Creates a new container for a list of speed controller.
	 * 
	 * @param controllers list of controllers to be contained
	 */
	public SpeedControllerGroup(Collection controllers){
		mControllers = Collections.unmodifiableList(new ArrayList<>(controllers));
	}

	public SpeedControllerGroup(SpeedController... controllers) {
	    this(Arrays.asList(controllers));
    }

    /**
	 * {@inheritDoc}
	 * 
	 * Sets the speed value to all the speed controllers contained in this object.
	 * 
	 */
	@Override
	public void set(double speed) {
	    Direction direction = mIsInverted ? Direction.BACKWARD : Direction.FORWARD;

		for (SpeedController controller : mControllers) {
			controller.set(speed, direction);
		}
	}
	
	/**
	 * {@inheritDoc}
	 * 
	 * Stops all the speed controllers contained in this object.
	 * 
	 */
	@Override
	public void stop() {
		for (SpeedController controller : mControllers) {
			controller.stop();
		}
	}

	/**
	 * {@inheritDoc}
	 *
	 * Gets the average speed value of all the speed controllers contained in this object.
	 *
	 */
	@Override
	public double get() {
		double totalSpeed = 0.0;

		for (SpeedController controller : mControllers) {
			totalSpeed += controller.get();
		}

		return totalSpeed / mControllers.size();
	}

	/**
	 * {@inheritDoc}
	 */
	@Override
	public boolean isInverted() {
		return mIsInverted;
	}

	/**
	 * {@inheritDoc}
	 * 
	 * Sets all the speed controllers contained in this object .
	 * 
	 */
	@Override
	public void setInverted(boolean inverted) {
		mIsInverted = inverted;
	}

    @Override
    public void close() throws IOException {
        Closer closer = Closer.empty();
        closer.addAll(mControllers);

        try {
            closer.close();
        } catch (Exception e) {
            throw new IOException(e);
        }
    }
}