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Rename MathUtils to MathUtil for consistency with other util classes (#2155)

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This commit is contained in:
Tyler Veness
2019-12-04 20:39:12 -08:00
committed by Peter Johnson
parent d003ec2dc9
commit 8c2ff94d70
6 changed files with 25 additions and 25 deletions
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8
wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
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@@ -12,7 +12,7 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.wpiutil.math.MathUtils;
import edu.wpi.first.wpiutil.math.MathUtil;
/**
* Implements a PID control loop.
@@ -197,7 +197,7 @@ public class PIDController implements Sendable, AutoCloseable {
*/
public void setSetpoint(double setpoint) {
if (m_maximumInput > m_minimumInput) {
m_setpoint = MathUtils.clamp(setpoint, m_minimumInput, m_maximumInput);
m_setpoint = MathUtil.clamp(setpoint, m_minimumInput, m_maximumInput);
} else {
m_setpoint = setpoint;
}
@@ -320,7 +320,7 @@ public class PIDController implements Sendable, AutoCloseable {
m_velocityError = (m_positionError - m_prevError) / m_period;
if (m_Ki != 0) {
m_totalError = MathUtils.clamp(m_totalError + m_positionError * m_period,
m_totalError = MathUtil.clamp(m_totalError + m_positionError * m_period,
m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
}
@@ -378,7 +378,7 @@ public class PIDController implements Sendable, AutoCloseable {
// Clamp setpoint to new input
if (m_maximumInput > m_minimumInput) {
m_setpoint = MathUtils.clamp(m_setpoint, m_minimumInput, m_maximumInput);
m_setpoint = MathUtil.clamp(m_setpoint, m_minimumInput, m_maximumInput);
}
}
}

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
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@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.wpiutil.math.MathUtils;
import edu.wpi.first.wpiutil.math.MathUtil;
/**
* A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
@@ -184,10 +184,10 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_reported = true;
}
xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
zRotation = MathUtils.clamp(zRotation, -1.0, 1.0);
zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
zRotation = applyDeadband(zRotation, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control
@@ -222,9 +222,9 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
}
}
m_leftMotor.set(MathUtils.clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
m_leftMotor.set(MathUtil.clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
m_rightMotor.set(MathUtils.clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
m_rightMotor.set(MathUtil.clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
feed();
}
@@ -251,10 +251,10 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_reported = true;
}
xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
zRotation = MathUtils.clamp(zRotation, -1.0, 1.0);
zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
zRotation = applyDeadband(zRotation, m_deadband);
double angularPower;
@@ -263,7 +263,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
if (isQuickTurn) {
if (Math.abs(xSpeed) < m_quickStopThreshold) {
m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator
+ m_quickStopAlpha * MathUtils.clamp(zRotation, -1.0, 1.0) * 2;
+ m_quickStopAlpha * MathUtil.clamp(zRotation, -1.0, 1.0) * 2;
}
overPower = true;
angularPower = zRotation;
@@ -342,10 +342,10 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_reported = true;
}
leftSpeed = MathUtils.clamp(leftSpeed, -1.0, 1.0);
leftSpeed = MathUtil.clamp(leftSpeed, -1.0, 1.0);
leftSpeed = applyDeadband(leftSpeed, m_deadband);
rightSpeed = MathUtils.clamp(rightSpeed, -1.0, 1.0);
rightSpeed = MathUtil.clamp(rightSpeed, -1.0, 1.0);
rightSpeed = applyDeadband(rightSpeed, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
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@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.wpiutil.math.MathUtils;
import edu.wpi.first.wpiutil.math.MathUtil;
/**
* A class for driving Killough drive platforms.
@@ -179,10 +179,10 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
m_reported = true;
}
ySpeed = MathUtils.clamp(ySpeed, -1.0, 1.0);
ySpeed = MathUtil.clamp(ySpeed, -1.0, 1.0);
ySpeed = applyDeadband(ySpeed, m_deadband);
xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
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@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.wpiutil.math.MathUtils;
import edu.wpi.first.wpiutil.math.MathUtil;
/**
* A class for driving Mecanum drive platforms.
@@ -164,10 +164,10 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
m_reported = true;
}
ySpeed = MathUtils.clamp(ySpeed, -1.0, 1.0);
ySpeed = MathUtil.clamp(ySpeed, -1.0, 1.0);
ySpeed = applyDeadband(ySpeed, m_deadband);
xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.

6
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
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@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import edu.wpi.first.wpiutil.math.MathUtils;
import edu.wpi.first.wpiutil.math.MathUtil;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
@@ -184,7 +184,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
Notifier pidRunner = new Notifier(() -> {
var speed = pidController.calculate(me.getEncoder().getDistance());
me.getMotor().set(MathUtils.clamp(speed, -0.2, 0.2));
me.getMotor().set(MathUtil.clamp(speed, -0.2, 0.2));
});
pidRunner.startPeriodic(pidController.getPeriod());
@@ -207,7 +207,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
Notifier pidRunner = new Notifier(() -> {
var speed = filter.calculate(me.getEncoder().getRate());
me.getMotor().set(MathUtils.clamp(speed, -0.3, 0.3));
me.getMotor().set(MathUtil.clamp(speed, -0.3, 0.3));
});
pidRunner.startPeriodic(pidController.getPeriod());

4
wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java → wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
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@@ -7,8 +7,8 @@
package edu.wpi.first.wpiutil.math;
public final class MathUtils {
private MathUtils() {
public final class MathUtil {
private MathUtil() {
throw new AssertionError("utility class");
}