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| version=2024.11.29-beta | ||
| version=2025.0.0-beta |
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| frc/ | ||
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wpilib_interface/src/main/java/coppercore/wpilib_interface/UnitUtils.java
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| package coppercore.wpilib_interface; | ||
|
|
||
| import edu.wpi.first.units.Measure; | ||
| import edu.wpi.first.units.Unit; | ||
|
|
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| /** Utilities for dealing with the WPILib units library. */ | ||
| public final class UnitUtils { | ||
| /** | ||
| * Given a measurement, a minimum value, and a maximum value, return a clamped measurement | ||
| * within those bounds. | ||
| * | ||
| * <p>Note: If for some reason min is greater than max, measure < min takes precedence over | ||
| * measure < max, which takes precedence over min < measure < max. Therefore, when | ||
| * debugging, if this function is strangely always returning min it is highly likely there is an | ||
| * error in the generation of bounds. | ||
| * | ||
| * @param <M> A measure, the type of the measures being compoared. This should be able to be | ||
| * inferred automatically. | ||
| * @param <U> The Unit measured by M. This should be able to be inferred automatically. | ||
| * @param measure The measure being clamped. If it is greater than min and less than max, it | ||
| * will be the result. | ||
| * @param min The minimum value. If measure < min, min will be returned | ||
| * @param max The maximum value. If measure > max, max will be returned. | ||
| * @return If measure is within the bounds, measure. If measure is less than min, min. If | ||
| * measure is greater than max, max. | ||
| */ | ||
| public static final <M extends Measure<U>, U extends Unit> M clampMeasure( | ||
| M measure, M min, M max) { | ||
| if (measure.lt(min)) { | ||
| return min; | ||
| } else if (measure.gt(max)) { | ||
| return max; | ||
| } | ||
|
|
||
| return measure; | ||
| } | ||
| } |
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| import coppercore.wpilib_interface.UnitUtils; | ||
| import edu.wpi.first.units.Units; | ||
| // import edu.wpi.first.units.Units.Meters; | ||
| import edu.wpi.first.units.Units.*; | ||
| import org.junit.jupiter.api.Assertions; | ||
| import org.junit.jupiter.api.Test; | ||
|
|
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| public class UnitUtilsTests { | ||
| @Test | ||
| public void clampWithinBounds() { | ||
| Assertions.assertTrue( | ||
| UnitUtils.clampMeasure( | ||
| Units.Meters.of(2.0), Units.Meters.of(1.0), Units.Meters.of(3.0)) | ||
| .equals(Units.Meters.of(2.0))); | ||
| } | ||
|
|
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| @Test | ||
| public void clampBelowBounds() { | ||
| Assertions.assertTrue( | ||
| UnitUtils.clampMeasure( | ||
| Units.Meters.of(0.0), Units.Meters.of(1.0), Units.Meters.of(3.0)) | ||
| .equals(Units.Meters.of(1.0))); | ||
| } | ||
|
|
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| @Test | ||
| public void clampAboveBounds() { | ||
| Assertions.assertTrue( | ||
| UnitUtils.clampMeasure( | ||
| Units.Meters.of(4.0), Units.Meters.of(1.0), Units.Meters.of(3.0)) | ||
| .equals(Units.Meters.of(3.0))); | ||
| } | ||
| } |