added the supervised interfaces

flashlib.core.robot/src/main/java/com/flash3388/flashlib/robot/motion/supervised/Supervisable.java

@@ -0,0 +1,7 @@
+package com.flash3388.flashlib.robot.motion.supervised;
+
+import com.flash3388.flashlib.control.Stoppable;
+
+public interface Supervisable extends Stoppable {
+    boolean isInBounds(double input);
+}

flashlib.core.robot/src/main/java/com/flash3388/flashlib/robot/motion/supervised/SupervisedMovable.java

@@ -0,0 +1,54 @@
+package com.flash3388.flashlib.robot.motion.supervised;
+
+import com.flash3388.flashlib.control.Direction;
+import com.flash3388.flashlib.control.Stoppable;
+import com.flash3388.flashlib.scheduling.Requirement;
+
+public interface SupervisedMovable extends Stoppable, Supervisable, Requirement {
+
+    default void supervisedMove(double speed) {
+        if (isInBounds(speed))
+            move(speed);
+        else
+            stop();
+    }
+
+    /**
+     * Moves along the axis at a given speed.
+     *
+     * @param speed speed of motion [-1..1] describing
+     *              percentage of power and direction.
+     */
+    void move(double speed);
+
+    /**
+     * Moves along the axis at a given speed and direction.
+     *
+     * @param speed absolute speed of motion [0...1] describing
+     *              percentage of power.
+     * @param direction direction of motion.
+     */
+    default void move(double speed, Direction direction) {
+        move(Math.abs(speed) * direction.sign());
+    }
+
+    /**
+     * Moves along the axis forward at a given speed.
+     *
+     * @param speed absolute speed of motion [0...1] describing
+     *              percentage of power.
+     */
+    default void forward(double speed) {
+        move(speed, Direction.FORWARD);
+    }
+
+    /**
+     * Moves along the axis backward at a given speed.
+     *
+     * @param speed absolute speed of motion [0...1] describing
+     *              percentage of power.
+     */
+    default void backward(double speed) {
+        move(speed, Direction.BACKWARD);
+    }
+}

flashlib.core.robot/src/main/java/com/flash3388/flashlib/robot/motion/supervised/SupervisedMovable2D.java

@@ -0,0 +1,84 @@
+package com.flash3388.flashlib.robot.motion.supervised;
+
+import com.flash3388.flashlib.control.Direction;
+import com.flash3388.flashlib.scheduling.Requirement;
+import com.jmath.vectors.Vector2;
+
+/**
+ * Describes a component capable of moving along a 2 axes.
+ *
+ * @since FlashLib 2.0.0
+ */
+public interface SupervisedMovable2D extends SupervisedMovable, Requirement {
+
+    default void supervisedMove(Vector2 motionVector) {
+        if (isInBounds(motionVector))
+            move(motionVector);
+        else
+            stop();
+    }
+
+    boolean isInBounds(Vector2 motionVector);
+
+    /**
+     * Moves along both axes at given speeds.
+     *
+     * @param motionVector vector describing speed of motion, where
+     *                     each axis [-1...1] describes percentage of power
+     *                     and direction.
+     */
+    void move(Vector2 motionVector);
+
+    @Override
+    default void supervisedMove(double speed) {
+        if (isInBounds(speed))
+            move(speed);
+        else
+            stop();
+    }
+
+    /**
+     * Moves along Y axis at a given speed.
+     *
+     * @param speed speed of motion [-1..1] describing percentage of
+     *              power and direction.
+     */
+    @Override
+    default void move(double speed) {
+        move(Vector2.polar(speed, 0.0));
+    }
+
+    /**
+     * Moves along Y axis at a given speed.
+     *
+     * @param speed speed of motion [0..1] describing percentage of
+     *              power.
+     * @param direction direction motion.
+     */
+    @Override
+    default void move(double speed, Direction direction) {
+        move(speed * direction.sign());
+    }
+
+    /**
+     * Moves forward along Y axis at a given speed.
+     *
+     * @param speed speed of motion [0..1] describing percentage of
+     *              power.
+     */
+    @Override
+    default void forward(double speed) {
+        move(speed, Direction.FORWARD);
+    }
+
+    /**
+     * Moves backward along Y axis at a given speed.
+     *
+     * @param speed speed of motion [0..1] describing percentage of
+     *              power.
+     */
+    @Override
+    default void backward(double speed) {
+        move(speed, Direction.BACKWARD);
+    }
+}

flashlib.core.robot/src/main/java/com/flash3388/flashlib/robot/motion/supervised/SupervisedRotatable.java

@@ -0,0 +1,54 @@
+package com.flash3388.flashlib.robot.motion.supervised;
+
+import com.flash3388.flashlib.control.Direction;
+import com.flash3388.flashlib.control.Stoppable;
+import com.flash3388.flashlib.scheduling.Requirement;
+
+public interface SupervisedRotatable extends Stoppable, Supervisable, Requirement {
+
+	default void supervisedRotate(double speed) {
+		if (isInBounds(speed))
+			rotate(speed);
+		else
+			stop();
+	}
+
+	/**
+	 * Rotates the system at a given speed.
+     *
+	 * @param speed speed of motion [-1..1] describing percentage of power and direction.
+	 */
+	void rotate(double speed);
+
+	/**
+	 * Rotates the system at a given speed.
+     *
+	 * @param speed speed of motion [0..1] describing percentage of power.
+	 * @param direction right - forward, left - backward
+	 */
+	default void rotate(double speed, Direction direction){
+		rotate(speed * direction.sign());
+	}
+
+	/**
+	 * Rotates the system at a speed to the right.
+     *
+	 * <p>Default implementation calls {@link #rotate(double, Direction)} with the given speed
+     * and {@link Direction#FORWARD} for direction.
+	 * @param speed speed of motion [0..1] describing percentage of power.
+	 */
+	default void rotateRight(double speed){
+		rotate(speed, Direction.FORWARD);
+	}
+
+	/**
+	 * Rotates the system at a speed to the left.
+     *
+	 * <p>Default implementation calls {@link #rotate(double, Direction)} with the given speed
+	 * and {@link Direction#BACKWARD} for direction.
+	 * @param speed speed speed of motion [0..1] describing percentage of power.
+	 */
+	default void rotateLeft(double speed){
+		rotate(speed, Direction.BACKWARD);
+	}
+}