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aa3848b2c8
It's a useful function outside of the drive classes. For backwards compatibility, deprecate (rather than remove) RobotDriveBase.applyDeadband()
24 lines
552 B
C++
24 lines
552 B
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/MathUtil.h"
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#include <cmath>
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namespace frc {
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double ApplyDeadband(double value, double deadband) {
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if (std::abs(value) > deadband) {
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if (value > 0.0) {
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return (value - deadband) / (1.0 - deadband);
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} else {
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return (value + deadband) / (1.0 - deadband);
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}
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} else {
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return 0.0;
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}
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}
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} // namespace frc
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