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Functions extends Mathematics
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@6-BennyLi-9
6-BennyLi-9 committed Sep 10, 2024
1 parent ca22f93 commit 82d8724
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Showing 8 changed files with 18 additions and 17 deletions.
4 changes: 2 additions & 2 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DriveAction.java
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Expand Up @@ -17,7 +17,7 @@
import org.firstinspires.ftc.teamcode.Utils.Complex;
import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
import org.firstinspires.ftc.teamcode.Utils.Mathematics;
import org.firstinspires.ftc.teamcode.Utils.Functions;

public class DriveAction implements DriveOrder {
private final Classic classic;
Expand Down Expand Up @@ -48,7 +48,7 @@ public void SetPower(double power) {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
BufPower=power;
BufPower= Mathematics.intervalClip(BufPower,-1,1);
BufPower= Functions.intervalClip(BufPower,-1,1);
return false;
}
};
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6 changes: 3 additions & 3 deletions ...main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DrivingActionsBuilder.java
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Expand Up @@ -9,7 +9,7 @@
import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriverProgram;
import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
import org.firstinspires.ftc.teamcode.Utils.Mathematics;
import org.firstinspires.ftc.teamcode.Utils.Functions;

public class DrivingActionsBuilder implements DriveOrderBuilder {
private final DriveActionPackage actionPackage;
Expand All @@ -28,7 +28,7 @@ public DrivingActionsBuilder(@NonNull SimpleMecanumDrive drive) {

@Override
public DriveOrderBuilder SetPower(double power) {
power = Mathematics.intervalClip(power, -1f, 1f);
power = Functions.intervalClip(power, -1f, 1f);
cache = new DriveAction(drive.getClassic(), actionPackage.actions.getLast().BufPower, actionPackage.actions.getLast().NEXT());
cache.SetPower(power);
cache.trajectoryType = TrajectoryType.WithoutChangingPosition;
Expand All @@ -38,7 +38,7 @@ public DriveOrderBuilder SetPower(double power) {

@Override
public DriveOrderBuilder TurnRadians(double radians) {
radians = Mathematics.intervalClip(radians, -Math.PI, Math.PI);
radians = Functions.intervalClip(radians, -Math.PI, Math.PI);
cache = new DriveAction(drive.getClassic(), actionPackage.actions.getLast().BufPower, actionPackage.actions.getLast().NEXT());
cache.Turn(radians);
cache.trajectoryType = TrajectoryType.TurnOnly;
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4 changes: 2 additions & 2 deletions ...ode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommand.java
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Expand Up @@ -10,7 +10,7 @@
import org.firstinspires.ftc.teamcode.Utils.Complex;
import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
import org.firstinspires.ftc.teamcode.Utils.Mathematics;
import org.firstinspires.ftc.teamcode.Utils.Functions;

public class DriveCommand implements DriveOrder {
private final Classic classic;
Expand Down Expand Up @@ -45,7 +45,7 @@ public void SetPower(double power) {
@Override
public void runCommand() {
BufPower = power;
BufPower = Mathematics.intervalClip(BufPower, -1f, 1f);
BufPower = Functions.intervalClip(BufPower, -1f, 1f);
}
};
}
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6 changes: 3 additions & 3 deletions ...in/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DrivingCommandsBuilder.java
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Expand Up @@ -8,7 +8,7 @@
import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriverProgram;
import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
import org.firstinspires.ftc.teamcode.Utils.Mathematics;
import org.firstinspires.ftc.teamcode.Utils.Functions;

public class DrivingCommandsBuilder implements DriveOrderBuilder {
private final DriveCommandPackage commandPackage;
Expand All @@ -27,7 +27,7 @@ public DrivingCommandsBuilder(@NonNull SimpleMecanumDrive drive) {
}

public DrivingCommandsBuilder SetPower(double power) {
power = Mathematics.intervalClip(power, -1f, 1f);
power = Functions.intervalClip(power, -1f, 1f);
cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
cache.SetPower(power);
cache.trajectoryType = TrajectoryType.WithoutChangingPosition;
Expand All @@ -36,7 +36,7 @@ public DrivingCommandsBuilder SetPower(double power) {
}

public DrivingCommandsBuilder TurnRadians(double radians) {
radians = Mathematics.intervalClip(radians, -Math.PI, Math.PI);
radians = Functions.intervalClip(radians, -Math.PI, Math.PI);
cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
cache.Turn(radians);
cache.trajectoryType = TrajectoryType.TurnOnly;
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8 changes: 4 additions & 4 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/Classic.java
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Expand Up @@ -11,7 +11,7 @@
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.Utils.Enums.Quadrant;
import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
import org.firstinspires.ftc.teamcode.Utils.Mathematics;
import org.firstinspires.ftc.teamcode.Utils.Functions;

public class Classic {
public Motors motors;
Expand Down Expand Up @@ -98,7 +98,7 @@ public void drive(@NonNull driveDirection driveDirection, @NonNull Quadrant quad
* @param angle 相较于机器的正方向，允许为[-180,180]内的实数(不是弧度，不是弧度，不是弧度）
*/
public void SimpleDrive(double power,double angle){
angle= Mathematics.angleRationalize(angle);
angle= Functions.angleRationalize(angle);

if(angle==0){
drive(driveDirection.forward,power);
Expand All @@ -122,7 +122,7 @@ public void SimpleDrive(double power,double angle){
}

public void SimpleRadiansDrive(double power,double radians){
radians=Mathematics.radiansRationalize(radians);
radians=Functions.radiansRationalize(radians);

SimpleDrive(power,Math.toDegrees(radians));
}
Expand All @@ -138,7 +138,7 @@ public void STOP(){
public void operateThroughGamePad(@NonNull Gamepad gamepad){
if(Params.Configs.useRightStickYToConfigRobotSpeed){
BufPower+=gamepad.right_stick_y*0.6;
BufPower=Mathematics.intervalClip(BufPower,-1,1);
BufPower=Functions.intervalClip(BufPower,-1,1);
motors.simpleMotorPowerController(
gamepad.left_stick_x*BufPower* Params.factorXPower,
gamepad.left_stick_y*BufPower* Params.factorYPower,
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3 changes: 2 additions & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/Motors.java
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Expand Up @@ -6,6 +6,7 @@
import org.firstinspires.ftc.teamcode.Hardwares.namespace.DeviceMap;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.Utils.Complex;
import org.firstinspires.ftc.teamcode.Utils.Functions;
import org.firstinspires.ftc.teamcode.Utils.Mathematics;
import org.firstinspires.ftc.teamcode.Hardwares.namespace.HardwareDevices;

Expand Down Expand Up @@ -60,7 +61,7 @@ public void clearDriveOptions(){
public void updateDriveOptions(double headingDeg){
if( Params.Configs.driverUsingAxisPowerInsteadOfCurrentPower ){
double currentXPower,currentYPower,currentHeadingPower=headingPower;
headingDeg= Mathematics.angleRationalize(headingDeg);//防止有问题
headingDeg= Functions.angleRationalize(headingDeg);//防止有问题
Complex aim=new Complex(new Vector2d(xAxisPower,yAxisPower)),robotHeading=new Complex(headingDeg);
Complex Counterclockwise=new Complex(robotHeading.angleToYAxis());

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2 changes: 1 addition & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Functions.java
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Expand Up @@ -10,7 +10,7 @@
import org.firstinspires.ftc.teamcode.Utils.Annotations.UtilFunctions;
import org.firstinspires.ftc.teamcode.Utils.Enums.State;

public final class Functions {
public final class Functions extends Mathematics{
@UtilFunctions
public static double getCurrentTimeMills(){
return System.nanoTime()/1.0E06;
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2 changes: 1 addition & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Mathematics.java
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@@ -1,6 +1,6 @@
package org.firstinspires.ftc.teamcode.Utils;

public final class Mathematics {
public class Mathematics {
public static double intervalClip(double value,double min,double max){
return Math.min(Math.max(min,value),max);
}
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