Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

25
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -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