#include <Utilities.h>
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| static float | abs (float f) |
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| static float | bound (float value, float capValue=1) |
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| static float | cap (float value, float peak) |
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| static void | Deadband (float &value, float deadband=-.10f) |
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| static bool | IsWithin (float value, float compareTo, float allowDelta) |
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| static int | SmallerOf (int value_1, int value_2) |
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| static void | Split_1 (float forward, float turn, float *left, float *right) |
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| static void | Split_2 (float left, float right, float *forward, float *turn) |
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Class with basic utility methods
◆ abs()
| static float ctre::phoenix::Utilities::abs |
( |
float |
f | ) |
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static |
Calculates absolute value of f
- Parameters
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| f | value to calculate absolute value of |
- Returns
- absolute value of f
◆ bound()
| static float ctre::phoenix::Utilities::bound |
( |
float |
value, |
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float |
capValue = 1 |
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) |
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static |
Caps the value
- Parameters
-
| value | Value to cap |
| capValue | Maximum/-Minimum value can be |
- Returns
- Capped value
◆ cap()
| static float ctre::phoenix::Utilities::cap |
( |
float |
value, |
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float |
peak |
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) |
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static |
Caps the value
- Parameters
-
| value | Value to cap |
| peak | Maximum/-Minimum value can be |
- Returns
- Capped value
◆ Deadband()
| static void ctre::phoenix::Utilities::Deadband |
( |
float & |
value, |
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float |
deadband = -.10f |
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) |
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static |
Deadbands the value
- Parameters
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| value | reference of value to deadband |
| deadband | If abs of value is under this, it will be brought to 0 |
◆ IsWithin()
| static bool ctre::phoenix::Utilities::IsWithin |
( |
float |
value, |
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float |
compareTo, |
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float |
allowDelta |
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) |
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static |
Calculates if value is within a delta
- Parameters
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| value | initial value to compare |
| compareTo | value to compare against first value |
| allowDelta | the range value can be away from compareTo |
- Returns
- true if value is within allowDelta range of compareTo
◆ SmallerOf()
| static int ctre::phoenix::Utilities::SmallerOf |
( |
int |
value_1, |
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int |
value_2 |
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) |
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static |
Gets the minimum of the two values
- Parameters
-
| value_1 | first value |
| value_2 | second value |
- Returns
- minimum value
◆ Split_1()
| static void ctre::phoenix::Utilities::Split_1 |
( |
float |
forward, |
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float |
turn, |
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float * |
left, |
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float * |
right |
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) |
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static |
Converts forward and turn to left and right speeds
- Parameters
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| forward | forward value of robot |
| turn | turn value of robot |
| left | Pointer to the left speed of robot, this will be filled |
| right | Pointer to the right speed of robot, this will be filled |
◆ Split_2()
| static void ctre::phoenix::Utilities::Split_2 |
( |
float |
left, |
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float |
right, |
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float * |
forward, |
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float * |
turn |
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) |
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static |
Converts left and right to forward and turn speeds
- Parameters
-
| left | left speed of robot |
| right | right speed of robot |
| forward | Pointer to the forward speed of the robot, this will be filled |
| turn | Pointer to the turn speed of the robot, this will be filled |
The documentation for this class was generated from the following file:
- Phoenix-api/cpp/src/main/native/include/ctre/phoenix/Utilities.h
1.9.3