+ public double getCurrentSpeed() {\r
+ return wheel.get();\r
+ }\r
+\r
+ public void setSpeed(double speed) {\r
+ wheel.set(speed);\r
+ }\r
+\r
+ public void setIncrementSpeed(double increment) {\r
+ double newSpeed = getCurrentSpeed() + increment;\r
+\r
+ if (getCurrentSpeed() >= 1.0) {\r
+ wheel.set(1.0);\r
+ } else if (getCurrentSpeed() <= -1.0) {\r
+ wheel.set(-1.0);\r
+ }\r
+\r
+ wheel.set(newSpeed);\r
+ }\r
+\r
+ // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR\r
+ // SUBTRACTING THE CURRENT MOTOR SPEED!\r
+ public void setDecrementSpeed(double decrement) {\r
+ double newSpeed = getCurrentSpeed() - decrement;\r
+\r
+ if (getCurrentSpeed() >= 1.0) {\r
+ wheel.set(1.0);\r
+ } else if (getCurrentSpeed() <= -1.0) {\r
+ wheel.set(-1.0);\r
+ }\r
+\r
+ wheel.set(newSpeed);\r
+ }\r
+\r