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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| { | ||
| "download": { | ||
| "localDir": "C:\\Users\\Ivan\\Code\\2023-2024 Repos\\Hydrogen\\logs", | ||
| "serverTeam": "1155" | ||
| }, | ||
| "output": { | ||
| "outputFolder": "C:\\Users\\Ivan\\Code\\2023-2024 Repos\\Hydrogen\\logs" | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,125 @@ | ||
| package org.sciborgs1155.lib; | ||
|
|
||
| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.filter.SlewRateLimiter; | ||
| import java.util.function.DoubleSupplier; | ||
| import java.util.function.DoubleUnaryOperator; | ||
|
|
||
| /** | ||
| * A functional interface to aid in modifying double suppliers, such as from a joystick. | ||
| * | ||
| * <p>Inspired by 694's StuyLib. | ||
| */ | ||
| @FunctionalInterface | ||
| public interface InputStream extends DoubleSupplier { | ||
|
|
||
| /** | ||
| * Creates an input stream from another. | ||
| * | ||
| * @param base The base stream. | ||
| * @return A new input stream. | ||
| */ | ||
| public static InputStream of(DoubleSupplier base) { | ||
| return base::getAsDouble; | ||
| } | ||
|
|
||
| /** | ||
| * Shorthand to return a double value. | ||
| * | ||
| * @return The value from {@link #getAsDouble()}. | ||
| */ | ||
| public default double get() { | ||
| return getAsDouble(); | ||
| } | ||
|
|
||
| /** | ||
| * Maps the stream outputs by an operator. | ||
| * | ||
| * @param operator A function that takes in a double input and returns a double output. | ||
| * @return A mapped stream. | ||
| */ | ||
| public default InputStream map(DoubleUnaryOperator operator) { | ||
| return () -> operator.applyAsDouble(getAsDouble()); | ||
| } | ||
|
|
||
| /** | ||
| * Scales the stream outputs by a factor. | ||
| * | ||
| * @param factor A supplier of scaling factors. | ||
| * @return A scaled stream. | ||
| */ | ||
| public default InputStream scale(DoubleSupplier factor) { | ||
| return map(x -> x * factor.getAsDouble()); | ||
| } | ||
|
|
||
| /** | ||
| * Scales the stream outputs by a factor. | ||
| * | ||
| * @param factor A scaling factor. | ||
| * @return A scaled stream. | ||
| */ | ||
| public default InputStream scale(double factor) { | ||
| return scale(() -> factor); | ||
| } | ||
|
|
||
| /** | ||
| * Negates the stream outputs. | ||
| * | ||
| * @return A stream scaled by -1. | ||
| */ | ||
| public default InputStream negate() { | ||
| return scale(-1); | ||
| } | ||
|
|
||
| /** | ||
| * Raises the stream outputs to an exponent. | ||
| * | ||
| * @param exponent The exponent to raise them to. | ||
| * @return An exponentiated stream. | ||
| */ | ||
| public default InputStream pow(double exponent) { | ||
| return map(x -> Math.pow(x, exponent)); | ||
| } | ||
|
|
||
| /** | ||
| * Raises the stream outputs to an exponent and keeps their original sign. | ||
| * | ||
| * @param exponent The exponent to raise them to. | ||
| * @return An exponentiated stream. | ||
| */ | ||
| public default InputStream signedPow(double exponent) { | ||
| return map(x -> Math.copySign(Math.pow(x, exponent), x)); | ||
| } | ||
|
|
||
| /** | ||
| * Deadbands the stream outputs by a minimum bound and scales them from 0 to a maximum bound. | ||
| * | ||
| * @param bound The lower bound to deadband with. | ||
| * @param max The maximum value to scale with. | ||
| * @return A deadbanded stream. | ||
| */ | ||
| public default InputStream deadband(double deadband, double max) { | ||
| return map(x -> MathUtil.applyDeadband(x, deadband, Double.MAX_VALUE)); | ||
| } | ||
|
|
||
| /** | ||
| * Clamps the stream outputs by a maximum bound. | ||
| * | ||
| * @param magnitude The upper bound to clamp with. | ||
| * @return A clamped stream. | ||
| */ | ||
| public default InputStream clamp(double magnitude) { | ||
| return map(x -> MathUtil.clamp(x, -magnitude, magnitude)); | ||
| } | ||
|
|
||
| /** | ||
| * Rate limits the stream outputs by a specified rate. | ||
| * | ||
| * @param rate The rate in units / s. | ||
| * @return A rate limited stream. | ||
| */ | ||
| public default InputStream rateLimit(double rate) { | ||
| var limiter = new SlewRateLimiter(rate); | ||
| return map(x -> limiter.calculate(x)); | ||
| } | ||
| } |
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