Cached (or rather caching) motors hold the state of the motors that they are wrapping. Some implementations also provide utility functions. A cached motor may store the motor's last velocity, direction, or other properties. Here is an example CachedMotor:
public class CachedMotor {
private final DcMotor motor;
private double lastVelocity;
private double lastPower;
public CachedMotor(DcMotor motor) {
this.motor = motor;
}
public void setVelocity(double velocity) {
motor.setVelocity(velocity);
this.lastVelocity = velocity;
}
public void setPower(double power) {
motor.setPower(power);
this.lastPower = power;
}
}This CachedMotor implementation does not implement most methods that one would need, but it gives a general idea of what it would look like. The class should also implement any methods on the motor that you are using, such as setTargetPosition or setZeroPowerbehavior.