io.silverspoon.bulldog.devices.actuators.movement.DirectMove Maven / Gradle / Ivy

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package io.silverspoon.bulldog.devices.actuators.movement;

import io.silverspoon.bulldog.core.util.BulldogUtil;
import io.silverspoon.bulldog.devices.actuators.Actuator;

public class DirectMove implements Move {

   private double toPosition = 0.0f;

   public DirectMove(double toPosition) {
      this.toPosition = toPosition;
   }

   @Override
   public void execute(Actuator actuator) {
      double startPosition = actuator.getPosition();
      actuator.setPosition(toPosition);
      int sleepyTime = (int) Math.abs(toPosition - startPosition) * actuator.getMillisecondsPerUnit();
      BulldogUtil.sleepMs(sleepyTime);
   }
}