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[wpimath] Move RobotDriveBase::ApplyDeadband() to MathUtil (#3529)

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It's a useful function outside of the drive classes.

For backwards compatibility, deprecate (rather than remove) RobotDriveBase.applyDeadband()
This commit is contained in:
Tyler Veness
2021-08-28 20:52:05 -07:00
committed by GitHub
parent 3b5d0d141a
commit aa3848b2c8
16 changed files with 162 additions and 65 deletions
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12
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
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@@ -170,8 +170,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_reported = true;
}
xSpeed = applyDeadband(xSpeed, m_deadband);
zRotation = applyDeadband(zRotation, m_deadband);
xSpeed = MathUtil.applyDeadband(xSpeed, m_deadband);
zRotation = MathUtil.applyDeadband(zRotation, m_deadband);
var speeds = arcadeDriveIK(xSpeed, zRotation, squareInputs);
@@ -203,8 +203,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_reported = true;
}
xSpeed = applyDeadband(xSpeed, m_deadband);
zRotation = applyDeadband(zRotation, m_deadband);
xSpeed = MathUtil.applyDeadband(xSpeed, m_deadband);
zRotation = MathUtil.applyDeadband(zRotation, m_deadband);
var speeds = curvatureDriveIK(xSpeed, zRotation, allowTurnInPlace);
@@ -241,8 +241,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_reported = true;
}
leftSpeed = applyDeadband(leftSpeed, m_deadband);
rightSpeed = applyDeadband(rightSpeed, m_deadband);
leftSpeed = MathUtil.applyDeadband(leftSpeed, m_deadband);
rightSpeed = MathUtil.applyDeadband(rightSpeed, m_deadband);
var speeds = tankDriveIK(leftSpeed, rightSpeed, squareInputs);

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
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@@ -191,8 +191,8 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
m_reported = true;
}
ySpeed = applyDeadband(ySpeed, m_deadband);
xSpeed = applyDeadband(xSpeed, m_deadband);
ySpeed = MathUtil.applyDeadband(ySpeed, m_deadband);
xSpeed = MathUtil.applyDeadband(xSpeed, m_deadband);
var speeds = driveCartesianIK(ySpeed, xSpeed, zRotation, gyroAngle);

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
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@@ -169,8 +169,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
m_reported = true;
}
ySpeed = applyDeadband(ySpeed, m_deadband);
xSpeed = applyDeadband(xSpeed, m_deadband);
ySpeed = MathUtil.applyDeadband(ySpeed, m_deadband);
xSpeed = MathUtil.applyDeadband(xSpeed, m_deadband);
var speeds = driveCartesianIK(ySpeed, xSpeed, zRotation, gyroAngle);

15
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.drive;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.MotorSafety;
/** Common base class for drive platforms. */
@@ -41,7 +42,7 @@ public abstract class RobotDriveBase extends MotorSafety {
*
* <p>The default value is {@value #kDefaultDeadband}. Inputs smaller than the deadband are set to
* 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See {@link
* #applyDeadband}.
* edu.wpi.first.math.MathUtil#applyDeadband}.
*
* @param deadband The deadband to set.
*/
@@ -83,17 +84,11 @@ public abstract class RobotDriveBase extends MotorSafety {
* @param value value to clip
* @param deadband range around zero
* @return The value after the deadband is applied.
* @deprecated Use MathUtil.applyDeadband(double,double).
*/
@Deprecated(since = "2021", forRemoval = true)
protected static double applyDeadband(double value, double deadband) {
if (Math.abs(value) > deadband) {
if (value > 0.0) {
return (value - deadband) / (1.0 - deadband);
} else {
return (value + deadband) / (1.0 - deadband);
}
} else {
return 0.0;
}
return MathUtil.applyDeadband(value, deadband);
}
/**