Added (NYI) CRServo and MotorAsServo hardware devices

RobotLibrary/src/main/java/com/technototes/library/hardware/motor/CRServo.java

@@ -0,0 +1,36 @@
+package com.technototes.library.hardware.motor;
+
+import com.technototes.library.hardware.HardwareDevice;
+import java.io.InvalidClassException;
+import java.util.function.Supplier;
+
+/**
+ * This is for "continuous rotation" servos. They work, unfortunately, like motors
+ * without encoders: You can set a power (from 0 to 1, typically, with .5 as "stop") and the
+ * servo will spin in the direct, at the provided speed...
+ *
+ * Not Yet Implemented!
+ * TODO: Implement this
+ */
+public class CRServo extends HardwareDevice<com.qualcomm.robotcore.hardware.CRServo> implements Supplier<Double> {
+
+    public CRServo(com.qualcomm.robotcore.hardware.CRServo device, String deviceName) throws InvalidClassException {
+        super(device, deviceName);
+        throw new InvalidClassException("com.technototes.library.hardware.motor.CRServo", "Not Yet Implemented");
+    }
+
+    protected CRServo(String deviceName) throws InvalidClassException {
+        super(deviceName);
+        throw new InvalidClassException("com.technototes.library.hardware.motor.CRServo", "Not Yet Implemented");
+    }
+
+    @Override
+    public String LogLine() {
+        return null;
+    }
+
+    @Override
+    public Double get() {
+        return null;
+    }
+}

RobotLibrary/src/main/java/com/technototes/library/hardware/motor/Motor.java

@@ -43,8 +43,10 @@ public Motor(String deviceName) {
      * @return The Motor (for chaining)
      */
     public Motor<T> setLimits(double mi, double ma) {
-        min = Range.clip(mi, -1, 1);
-        max = Range.clip(ma, -1, 1);
+        mi = Range.clip(mi, -1, 1);
+        ma = Range.clip(ma, -1, 1);
+        min = Math.min(mi, ma);
+        max = Math.max(mi, ma);
         return this;
     }
 
@@ -83,18 +85,39 @@ public Motor<T> setDirection(DcMotorSimple.Direction dir) {
      * Gets the power value for the motor
      *
      * @return the power value (as a double)
+     * @deprecated use getPower() instead
      */
+    @Deprecated
     public double getSpeed() {
+        return getPower();
+    }
+
+    /**
+     * Gets the power value for the motor
+     *
+     * @return the power value (as a double)
+     */
+    public double getPower() {
         return device.getPower();
     }
 
     /**
-     * Set speed of motor
+     * Set the (range-clipped) speed of motor
      *
      * @param speed The speed of the motor
      */
+    @Deprecated
     public void setSpeed(double speed) {
-        device.setPower(Range.clip(speed, min, max));
+        setPower(speed);
+    }
+
+    /**
+     * Set the (range-clipped) power of the motor
+     *
+     * @param pow The power value (-1 -> 1)
+     */
+    public void setPower(double pow) {
+        device.setPower(Range.clip(pow, min, max));
     }
 
     /**

RobotLibrary/src/main/java/com/technototes/library/hardware/servo/MotorAsServo.java

@@ -0,0 +1,56 @@
+package com.technototes.library.hardware.servo;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.technototes.library.hardware.HardwareDevice;
+import com.technototes.library.hardware.Sensored;
+import java.io.InvalidClassException;
+
+/**
+ * This is to use a motor as a servo using the built-in capabilities (instead of doing it manually)
+ *
+ * One rather important feature would be to hand control back & forth between a normal encoded
+ * motor. The alternative would be to extend EncodedMotor to just "do" this stuff automatically.
+ * Honestly, that probably makes more sense, but requires some thought about state transitions.
+ *
+ * @param <T>
+ * Not Yet Implemented!
+ * TODO: Implement this
+ *
+ */
+public class MotorAsServo<T extends DcMotor> extends HardwareDevice<T> implements Sensored {
+
+    public MotorAsServo(T device, String deviceName) throws InvalidClassException {
+        super(device, deviceName);
+        throw new InvalidClassException("com.technototes.library.hardware.servo.MotorAsServo", "Not Yet Implemented");
+    }
+
+    protected MotorAsServo(String deviceName) throws InvalidClassException {
+        super(deviceName);
+        throw new InvalidClassException("com.technototes.library.hardware.servo.MotorAsServo", "Not Yet Implemented");
+    }
+
+    /**
+     * @return
+     */
+    @Override
+    public String LogLine() {
+        return null;
+    }
+
+    /**
+     * @return
+     */
+    @Override
+    public double getSensorValue() {
+        return 0;
+    }
+
+    /**
+     * @return
+     */
+    @Override
+    public double getAsDouble() {
+        return getSensorValue();
+    }
+}