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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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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.