Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Replace MathUtil.clamp() with Java 21 Math.clamp() (#8186)

Browse Source
This commit is contained in:
ninjadrknss
2025-08-23 06:01:51 -10:00
committed by GitHub
parent 183328384b
commit c280fce147
26 changed files with 41 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
View File

@@ -137,8 +137,8 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
* @param max maximum voltage percentage (0-1 range)
*/
public void setVoltagePercentageRange(double min, double max) {
m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
m_sensorMin = Math.clamp(min, 0.0, 1.0);
m_sensorMax = Math.clamp(max, 0.0, 1.0);
}
/**

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
View File

@@ -156,8 +156,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
* @param max maximum duty cycle (0-1 range)
*/
public void setDutyCycleRange(double min, double max) {
m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
m_sensorMin = Math.clamp(min, 0.0, 1.0);
m_sensorMax = Math.clamp(max, 0.0, 1.0);
}
/**

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
View File

@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.wpilibj.DriverStation.POVDirection;
import edu.wpi.first.wpilibj.event.BooleanEvent;
@@ -467,7 +466,7 @@ public class GenericHID {
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
value = MathUtil.clamp(value, 0, 1);
value = Math.clamp(value, 0, 1);
int rumbleValue = (int) (value * 65535);
switch (type) {
case kLeftRumble -> this.m_leftRumble = rumbleValue;

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
View File

@@ -9,7 +9,6 @@ import static edu.wpi.first.units.Units.Microsecond;
import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Value;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.units.collections.LongToObjectHashMap;
import edu.wpi.first.units.measure.Dimensionless;
import edu.wpi.first.units.measure.Distance;
@@ -479,9 +478,9 @@ public interface LEDPattern {
writer.setRGB(
i,
(int) MathUtil.clamp(r * multiplier, 0, 255),
(int) MathUtil.clamp(g * multiplier, 0, 255),
(int) MathUtil.clamp(b * multiplier, 0, 255));
(int) Math.clamp(r * multiplier, 0, 255),
(int) Math.clamp(g * multiplier, 0, 255),
(int) Math.clamp(b * multiplier, 0, 255));
});
};
}
@@ -526,7 +525,7 @@ public interface LEDPattern {
*/
static LEDPattern progressMaskLayer(DoubleSupplier progressSupplier) {
return (reader, writer) -> {
double progress = MathUtil.clamp(progressSupplier.getAsDouble(), 0, 1);
double progress = Math.clamp(progressSupplier.getAsDouble(), 0, 1);
int bufLen = reader.getLength();
int max = (int) (bufLen * progress);

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
View File

@@ -8,7 +8,6 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -81,7 +80,7 @@ public class Servo implements Sendable, AutoCloseable {
* @param value Position from 0.0 to 1.0.
*/
public void set(double value) {
value = MathUtil.clamp(value, 0.0, 1.0);
value = Math.clamp(value, 0.0, 1.0);
if (m_simPosition != null) {
m_simPosition.set(value);

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
View File

@@ -8,7 +8,6 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -130,12 +129,12 @@ public class SharpIR implements Sendable, AutoCloseable {
*/
public double getRange() {
if (m_simRange != null) {
return MathUtil.clamp(m_simRange.get(), m_min, m_max);
return Math.clamp(m_simRange.get(), m_min, m_max);
} else {
// Don't allow zero/negative values
var v = Math.max(m_sensor.getVoltage(), 0.00001);
return MathUtil.clamp(m_A * Math.pow(v, m_B) * 1e-2, m_min, m_max);
return Math.clamp(m_A * Math.pow(v, m_B) * 1e-2, m_min, m_max);
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
View File

@@ -254,8 +254,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* @return Wheel speeds [-1.0..1.0].
*/
public static WheelSpeeds arcadeDriveIK(double xSpeed, double zRotation, boolean squareInputs) {
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
xSpeed = Math.clamp(xSpeed, -1.0, 1.0);
zRotation = Math.clamp(zRotation, -1.0, 1.0);
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
@@ -295,8 +295,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
*/
public static WheelSpeeds curvatureDriveIK(
double xSpeed, double zRotation, boolean allowTurnInPlace) {
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
xSpeed = Math.clamp(xSpeed, -1.0, 1.0);
zRotation = Math.clamp(zRotation, -1.0, 1.0);
double leftSpeed;
double rightSpeed;
@@ -329,8 +329,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* @return Wheel speeds [-1.0..1.0].
*/
public static WheelSpeeds tankDriveIK(double leftSpeed, double rightSpeed, boolean squareInputs) {
leftSpeed = MathUtil.clamp(leftSpeed, -1.0, 1.0);
rightSpeed = MathUtil.clamp(rightSpeed, -1.0, 1.0);
leftSpeed = Math.clamp(leftSpeed, -1.0, 1.0);
rightSpeed = Math.clamp(rightSpeed, -1.0, 1.0);
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
View File

@@ -269,8 +269,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
*/
public static WheelSpeeds driveCartesianIK(
double xSpeed, double ySpeed, double zRotation, Rotation2d gyroAngle) {
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
ySpeed = MathUtil.clamp(ySpeed, -1.0, 1.0);
xSpeed = Math.clamp(xSpeed, -1.0, 1.0);
ySpeed = Math.clamp(ySpeed, -1.0, 1.0);
// Compensate for gyro angle.
var input = new Translation2d(xSpeed, ySpeed).rotateBy(gyroAngle.unaryMinus());

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
View File

@@ -7,7 +7,6 @@ package edu.wpi.first.wpilibj.motorcontrol;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -99,7 +98,7 @@ public abstract class PWMMotorController extends MotorSafety
*/
protected final void setSpeed(double speed) {
if (Double.isFinite(speed)) {
speed = MathUtil.clamp(speed, -1.0, 1.0);
speed = Math.clamp(speed, -1.0, 1.0);
} else {
speed = 0.0;
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
View File

@@ -4,7 +4,6 @@
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
@@ -135,7 +134,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
* @param velocity New velocity in meters per second.
*/
public final void setState(double position, double velocity) {
setState(VecBuilder.fill(MathUtil.clamp(position, m_minHeight, m_maxHeight), velocity));
setState(VecBuilder.fill(Math.clamp(position, m_minHeight, m_maxHeight), velocity));
}
/**

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
View File

@@ -4,7 +4,6 @@
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
@@ -117,8 +116,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* @param velocityRadPerSec The new angular velocity in radians per second.
*/
public final void setState(double angleRadians, double velocityRadPerSec) {
setState(
VecBuilder.fill(MathUtil.clamp(angleRadians, m_minAngle, m_maxAngle), velocityRadPerSec));
setState(VecBuilder.fill(Math.clamp(angleRadians, m_minAngle, m_maxAngle), velocityRadPerSec));
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
View File

@@ -152,7 +152,7 @@ public class Color {
}
private static double roundAndClamp(double value) {
return MathUtil.clamp(Math.ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
return Math.clamp(Math.ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
}
// Helper methods

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
View File

@@ -4,7 +4,6 @@
package edu.wpi.first.wpilibj.util;
import edu.wpi.first.math.MathUtil;
import java.util.Objects;
/** Represents colors with 8 bits of precision. */
@@ -34,9 +33,9 @@ public class Color8Bit {
* @param blue Blue value (0-255)
*/
public Color8Bit(int red, int green, int blue) {
this.red = MathUtil.clamp(red, 0, 255);
this.green = MathUtil.clamp(green, 0, 255);
this.blue = MathUtil.clamp(blue, 0, 255);
this.red = Math.clamp(red, 0, 255);
this.green = Math.clamp(green, 0, 255);
this.blue = Math.clamp(blue, 0, 255);
}
/**