added creep function (#45)

* added creep function

* version

Author: BBScholar

build.gradle

@@ -35,7 +35,7 @@ dependencies {
 }
 
 group = 'org.team5499'
-version = '2.7.4'
+version = '2.7.5'
 
 task sourcesJar(type: Jar) {
     from sourceSets.main.allJava

src/main/kotlin/org/team5499/monkeyLib/input/SpaceDriveHelper.kt

@@ -1,25 +1,28 @@
 package org.team5499.monkeyLib.input
 
-public class SpaceDriveHelper(deadband: Double, turnMult: Double) : DriveHelper() {
+public class SpaceDriveHelper(deadband: Double, turnMult: Double, slowMult: Double) : DriveHelper() {
 
     private val mDeadband: Double
     private val mTurnMult: Double
+    private val mSlowMult: Double
 
     init {
         mDeadband = deadband
         mTurnMult = turnMult
+        mSlowMult = slowMult
     }
 
     public override fun calculateOutput(
         throttle: Double,
         wheel: Double,
         isQuickTurn: Boolean,
-        notUsed: Boolean
+        creep: Boolean
     ): DriveSignal {
         val newThottle = super.handleDeadband(throttle, mDeadband)
         var newWheel = super.handleDeadband(wheel, mDeadband)
         val mult = if (!isQuickTurn) mTurnMult else 1.0
         newWheel *= mult
-        return DriveSignal(newThottle + newWheel, newThottle - newWheel)
+        val slow = if (creep) mSlowMult else 1.0
+        return DriveSignal(slow * (newThottle + newWheel), slow * (newThottle - newWheel))
     }
 }

src/test/kotlin/tests/input/DriveHelperTest.kt

@@ -92,7 +92,7 @@ class DriveHelperTest {
     @Suppress("LongMethod")
     @Test
     fun testSpaceDriveHelper() {
-        val helper = SpaceDriveHelper(0.02, 0.4)
+        val helper = SpaceDriveHelper(0.02, 0.4, 0.5)
         var output = helper.calculateOutput(0.01, 0.01, false)
         assertEquals(output.left, 0.0, Epsilon.EPSILON)
         assertEquals(output.right, 0.0, Epsilon.EPSILON)