/// <summary>
/// Sets the motor speed from linear speed and wheel diameter.
/// </summary>
/// <param name="encoderMotor">The motor instance</param>
/// <param name="speed">The linear speed.</param>
/// <param name="diameter">The wheel diameter.</param>
public static void SetSpeed(this EncoderMotor encoderMotor, Speed speed, Length diameter)
{
if (encoderMotor == null)
{
throw new ArgumentNullException(nameof(encoderMotor));
}
if (diameter.Meters <= 0)
{
throw new ArgumentOutOfRangeException(nameof(diameter), "The wheel diameter must be greater than 0");
}
encoderMotor.Rpm = speed.ToRotationalSpeedFromDiameter(diameter);
}
/// <summary>
/// Sets the motor speed from linear speed and assuming Standard diameter <see cref="WheelDiameters"/>.
/// </summary>
/// <param name="encoderMotor">The motor instance</param>
/// <param name="speed"></param>
public static void SetSpeed(this EncoderMotor encoderMotor, Speed speed)
{
encoderMotor.SetSpeed(speed, WheelDiameters.Standard);
}
