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Add MathUtils.clamp() for Java (#1861)

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Also use std::clamp() and MathUtils.clamp() in as many places as
possible in place of custom clamp functions or if statements.
This commit is contained in:
Tyler Veness
2019-08-28 23:24:30 -07:00
committed by Peter Johnson
parent eb3e0c9c95
commit 1fb3011235
12 changed files with 75 additions and 78 deletions
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25
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -36,10 +36,10 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
reported = true;
}
xSpeed = Limit(xSpeed);
xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
zRotation = Limit(zRotation);
zRotation = std::clamp(zRotation, -1.0, 1.0);
zRotation = ApplyDeadband(zRotation, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control
@@ -75,9 +75,9 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
}
}
m_leftMotor.Set(Limit(leftMotorOutput) * m_maxOutput);
m_rightMotor.Set(Limit(rightMotorOutput) * m_maxOutput *
m_rightSideInvertMultiplier);
m_leftMotor.Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
m_rightMotor.Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
Feed();
}
@@ -91,10 +91,10 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
reported = true;
}
xSpeed = Limit(xSpeed);
xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
zRotation = Limit(zRotation);
zRotation = std::clamp(zRotation, -1.0, 1.0);
zRotation = ApplyDeadband(zRotation, m_deadband);
double angularPower;
@@ -102,8 +102,9 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
if (isQuickTurn) {
if (std::abs(xSpeed) < m_quickStopThreshold) {
m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator +
m_quickStopAlpha * Limit(zRotation) * 2;
m_quickStopAccumulator =
(1 - m_quickStopAlpha) * m_quickStopAccumulator +
m_quickStopAlpha * std::clamp(zRotation, -1.0, 1.0) * 2;
}
overPower = true;
angularPower = zRotation;
@@ -164,10 +165,10 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
reported = true;
}
leftSpeed = Limit(leftSpeed);
leftSpeed = std::clamp(leftSpeed, -1.0, 1.0);
leftSpeed = ApplyDeadband(leftSpeed, m_deadband);
rightSpeed = Limit(rightSpeed);
rightSpeed = std::clamp(rightSpeed, -1.0, 1.0);
rightSpeed = ApplyDeadband(rightSpeed, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control

4
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -51,10 +51,10 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
reported = true;
}
ySpeed = Limit(ySpeed);
ySpeed = std::clamp(ySpeed, -1.0, 1.0);
ySpeed = ApplyDeadband(ySpeed, m_deadband);
xSpeed = Limit(xSpeed);
xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.

4
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -44,10 +44,10 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
reported = true;
}
ySpeed = Limit(ySpeed);
ySpeed = std::clamp(ySpeed, -1.0, 1.0);
ySpeed = ApplyDeadband(ySpeed, m_deadband);
xSpeed = Limit(xSpeed);
xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.

12
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,16 +26,6 @@ void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
void RobotDriveBase::FeedWatchdog() { Feed(); }
double RobotDriveBase::Limit(double value) {
if (value > 1.0) {
return 1.0;
}
if (value < -1.0) {
return -1.0;
}
return value;
}
double RobotDriveBase::ApplyDeadband(double value, double deadband) {
if (std::abs(value) > deadband) {
if (value > 0.0) {