加入一些 Exception

Author: 6-BennyLi-9

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Localizers/definition/SubassemblyLocalizer.java

@@ -4,6 +4,8 @@
 
 import com.acmerobotics.roadrunner.Pose2d;
 
+import org.firstinspires.ftc.teamcode.utils.Exceptions.UnKnownErrorsException;
+
 public abstract class SubassemblyLocalizer implements Localizer{
 	public final LocalizerPlugin[] plugins;
 	public Pose2d RobotPosition;
@@ -45,7 +47,7 @@ public void update(){
 				++VectorFactor;
 				++HeadingFactor;
 			}else{
-				throw new RuntimeException("unknown localizer plugin");
+				throw new UnKnownErrorsException("Unknown localizer plugin");
 			}
 		}
 		RobotPosition=new Pose2d(

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/Structure.java

@@ -11,6 +11,7 @@
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Servos;
 import org.firstinspires.ftc.teamcode.RuntimeOption;
 import org.firstinspires.ftc.teamcode.utils.Enums.ClipPosition;
+import org.firstinspires.ftc.teamcode.utils.Exceptions.UnKnownErrorsException;
 
 public class Structure {
 	Motors motors;
@@ -62,7 +63,7 @@ public void ClipOption(@NonNull ClipPosition clipPosition){
 				closeClips();
 				break;
 			default:
-				throw new RuntimeException("UnKnown ClipPosition");
+				throw new UnKnownErrorsException("UnKnown ClipPosition");
 		}
 	}
 
@@ -79,7 +80,7 @@ public void operateThroughGamePad(@NonNull Gamepad gamepad){
 						clipPosition=ClipPosition.Open;
 						break;
 					default:
-						throw new RuntimeException("UnKnown ClipPosition");
+						throw new UnKnownErrorsException("UnKnown ClipPosition");
 				}
 			}
 		}else gamePadButtonBHolding=false;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/DeviceMap.java

@@ -11,6 +11,7 @@
 
 import org.firstinspires.ftc.teamcode.Hardwares.namespace.HardwareDevices;
 import org.firstinspires.ftc.teamcode.utils.Enums.HardwareState;
+import org.firstinspires.ftc.teamcode.utils.Exceptions.DeviceDisabledException;
 
 import java.util.HashMap;
 import java.util.Map;
@@ -37,15 +38,19 @@ public DeviceMap(HardwareMap hardwareMap){
 	}
 
 	public HardwareDevice getDevice(@NonNull HardwareDevices hardwareDevices){
-		if(hardwareDevices.state==HardwareState.Disabled)throw new RuntimeException("Hardware "+hardwareDevices.name()+" Disabled.");
+		if(hardwareDevices.state==HardwareState.Disabled) {
+			throw new DeviceDisabledException(hardwareDevices.name());
+		}
 		if(devices.containsKey(hardwareDevices)){
 			return devices.get(hardwareDevices);
 		}else{
 			throw new NullPointerException("Device Not Found:"+ hardwareDevices.toString());
 		}
 	}
 	public void setDirection(@NonNull HardwareDevices hardwareDevices, DcMotorSimple.Direction direction){
-		if(hardwareDevices.state==HardwareState.Disabled)throw new RuntimeException("Hardware "+hardwareDevices.name()+" Disabled.");
+		if(hardwareDevices.state==HardwareState.Disabled) {
+			throw new DeviceDisabledException(hardwareDevices.name());
+		}
 		HardwareDevice device=getDevice(hardwareDevices);
 		if(device instanceof DcMotorEx){
 			((DcMotorEx) device).setDirection(direction);
@@ -54,7 +59,9 @@ public void setDirection(@NonNull HardwareDevices hardwareDevices, DcMotorSimple
 		}
 	}
 	public void setPower(@NonNull HardwareDevices hardwareDevices, double power){
-		if(hardwareDevices.state==HardwareState.Disabled)throw new RuntimeException("Hardware "+hardwareDevices.name()+" Disabled.");
+		if(hardwareDevices.state==HardwareState.Disabled) {
+			throw new DeviceDisabledException(hardwareDevices.name());
+		}
 		HardwareDevice device=getDevice(hardwareDevices);
 		if(device instanceof DcMotorEx){
 			((DcMotorEx) device).setPower(power);
@@ -65,7 +72,9 @@ public void setPower(@NonNull HardwareDevices hardwareDevices, double power){
 		}
 	}
 	public void setPosition(@NonNull HardwareDevices hardwareDevices, double position){
-		if(hardwareDevices.state==HardwareState.Disabled)throw new RuntimeException("Hardware "+hardwareDevices.name()+" Disabled.");
+		if(hardwareDevices.state==HardwareState.Disabled) {
+			throw new DeviceDisabledException(hardwareDevices.name());
+		}
 		HardwareDevice device=getDevice(hardwareDevices);
 		if(device instanceof Servo){
 			((Servo) device).setPosition(position);
@@ -74,7 +83,9 @@ public void setPosition(@NonNull HardwareDevices hardwareDevices, double positio
 		}
 	}
 	public double getPosition(@NonNull HardwareDevices hardwareDevices){
-		if(hardwareDevices.state==HardwareState.Disabled)throw new RuntimeException("Hardware "+hardwareDevices.name()+" Disabled.");
+		if(hardwareDevices.state==HardwareState.Disabled) {
+			throw new DeviceDisabledException(hardwareDevices.name());
+		}
 		HardwareDevice device=getDevice(hardwareDevices);
 		if (device instanceof Servo) {
 			return ((Servo) device).getPosition();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Exceptions/DeviceDisabledException.java

@@ -0,0 +1,7 @@
+package org.firstinspires.ftc.teamcode.utils.Exceptions;
+
+public class DeviceDisabledException extends NullPointerException{
+	public DeviceDisabledException(String s){
+		super("Device "+s+" is/are Disabled!");
+	}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Exceptions/UnKnownErrorsException.java

@@ -0,0 +1,7 @@
+package org.firstinspires.ftc.teamcode.utils.Exceptions;
+
+public class UnKnownErrorsException extends RuntimeException{
+	public UnKnownErrorsException(String s){
+		super("UnKnown Enum Type"+s);
+	}
+}