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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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20
wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
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@@ -33,6 +33,26 @@ public final class MathUtil {
return Math.max(low, Math.min(value, high));
}
/**
* Returns 0.0 if the given value is within the specified range around zero. The remaining range
* between the deadband and 1.0 is scaled from 0.0 to 1.0.
*
* @param value Value to clip.
* @param deadband Range around zero.
* @return The value after the deadband is applied.
*/
public 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;
}
}
/**
* Returns modulus of input.
*