Feature (#6): Controllers can set motor voltage #7
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Adds an inner class `VoltageControllerOutput` to `AbstractMotor` which allows a unique voltage-based `ControllerOutput` per motor
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Description of the Change
Adds an inner class
VoltageControllerOutputtoAbstractMotorwhich allows a unique voltage-basedControllerOutputper motor.This allows for Controllers to send output to motors via
AbstractMotor::getVoltageControllerOutput.Using an inner class managed by the motor allows for preventing two competing controllers.
Also updates tests.
Motivation
See #6 – voltage control allows for lower-level control and circumventing built-in motor PIDs.
Possible Drawbacks
This may make the codebase more complicated, as it is a distinct idea from "AbstractMotor as ControllerOutput".
Verification Process
Updated tests
Applicable Issues
#6