Update MotionProfiledDcMotor.java

Fission310 · Apr 13, 2022 · 51904c5 · 51904c5
1 parent b70ff8f
commit 51904c5
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/FissionLib/src/main/java/com/stuyfission/fissionlib/motion/MotionProfiledDcMotor.java b/FissionLib/src/main/java/com/stuyfission/fissionlib/motion/MotionProfiledDcMotor.java
@@ -185,6 +185,12 @@ public void setTargetPosition(double targetPosition) {
         profileTimer.reset();
     }
 
+    public void setTargetPosition(double targetPosition, double retractionMultiplier) {
+        if (targetPosition < getPosition()) { profile = generateProfile(targetPosition, MAX_VEL * retractionMultiplier, MAX_ACCEL * RETRACTION_MULTIPLIER); }
+        else { profile = generateProfile(targetPosition, MAX_VEL, MAX_ACCEL); }
+        profileTimer.reset();
+    }
+
     /**
      * Overrides DcMotor method setTargetPosition(int) to utilize motion profile
      *