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[wpimath] Add copySignPow to MathUtil for joystick input shaping (#8013)

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This commit is contained in:
Michael Lesirge
2025-06-15 14:08:41 -07:00
committed by GitHub
parent e2517b7a21
commit fb399eef3d
6 changed files with 173 additions and 8 deletions
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8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -115,8 +115,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::ArcadeDriveIK(
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
xSpeed = std::copysign(xSpeed * xSpeed, xSpeed);
zRotation = std::copysign(zRotation * zRotation, zRotation);
xSpeed = CopySignPow(xSpeed, 2);
zRotation = CopySignPow(zRotation, 2);
}
double leftSpeed = xSpeed - zRotation;
@@ -170,8 +170,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::TankDriveIK(
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
leftSpeed = std::copysign(leftSpeed * leftSpeed, leftSpeed);
rightSpeed = std::copysign(rightSpeed * rightSpeed, rightSpeed);
leftSpeed = CopySignPow(leftSpeed, 2);
rightSpeed = CopySignPow(rightSpeed, 2);
}
return {leftSpeed, rightSpeed};