Package ca.team3161.lib.utils

Class Utils

  • public class Utils
extends java.lang.Object
    Pretty printing arrays, rounding doubles, ensuring PWM values fall within the range [-1.0, 1.0], etc.

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static boolean between​(double a, double val, double b)  
      static boolean between​(float a, float val, float b)  
      static boolean between​(int a, int val, int b)  
      static boolean between​(long a, long val, long b)  
      static double normalizePwm​(double val)
      Normalize a PWM value so it remains in the range [-1.0, 1.0] If a value above 1.0 is given, 1.0 is returned.
      static float normalizePwm​(float val)
      Normalize a PWM value so it remains in the range [-1.0, 1.0] If a value above 1.0 is given, 1.0 is returned.
      static double requireNonNegative​(double in)
      Assert that a double is greater than 0.
      static float requireNonNegative​(float in)
      Assert that a float is greater than 0.
      static int requireNonNegative​(int in)
      Assert that an int is greater than 0.
      static long requireNonNegative​(long in)
      Assert that a long is greater than 0.
      static void safeExec​(java.lang.String label, java.lang.Runnable runnable)  
      static <T> java.util.function.Consumer<T> safeExec​(java.lang.String label, java.util.function.Consumer<T> consumer)  
      static <T> T safeInit​(java.lang.String label, java.util.function.Supplier<T> supplier)  

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Method Detail

      • normalizePwm

        public static double normalizePwm​(double val)
        Normalize a PWM value so it remains in the range [-1.0, 1.0] If a value above 1.0 is given, 1.0 is returned. If a value below -1.0 is given, -1.0 is returned. For other values, they are simply returned
        Parameters:
        val - the value to normalize
        Returns:
        the normalized value

      • normalizePwm

        public static float normalizePwm​(float val)
        Normalize a PWM value so it remains in the range [-1.0, 1.0] If a value above 1.0 is given, 1.0 is returned. If a value below -1.0 is given, -1.0 is returned. For other values, they are simply returned
        Parameters:
        val - the value to normalize
        Returns:
        the normalized value

      • requireNonNegative

        public static int requireNonNegative​(int in)
        Assert that an int is greater than 0.
        Parameters:
        in - the argument which must be non-negative
        Returns:
        the argument back
        Throws:
        java.lang.IllegalArgumentException - if the argument is less than 0

      • requireNonNegative

        public static long requireNonNegative​(long in)
        Assert that a long is greater than 0.
        Parameters:
        in - the argument which must be non-negative
        Returns:
        the argument back
        Throws:
        java.lang.IllegalArgumentException - if the argument is less than 0

      • requireNonNegative

        public static double requireNonNegative​(double in)
        Assert that a double is greater than 0.
        Parameters:
        in - the argument which must be non-negative
        Returns:
        the argument back
        Throws:
        java.lang.IllegalArgumentException - if the argument is less than 0

      • requireNonNegative

        public static float requireNonNegative​(float in)
        Assert that a float is greater than 0.
        Parameters:
        in - the argument which must be non-negative
        Returns:
        the argument back
        Throws:
        java.lang.IllegalArgumentException - if the argument is less than 0

      • between

        public static boolean between​(double a,
                              double val,
                              double b)

      • between

        public static boolean between​(float a,
                              float val,
                              float b)

      • between

        public static boolean between​(int a,
                              int val,
                              int b)

      • between

        public static boolean between​(long a,
                              long val,
                              long b)

      • safeInit

        public static <T> T safeInit​(java.lang.String label,
                             java.util.function.Supplier<T> supplier)

      • safeExec

        public static void safeExec​(java.lang.String label,
                            java.lang.Runnable runnable)

      • safeExec

        public static <T> java.util.function.Consumer<T> safeExec​(java.lang.String label,
                                                          java.util.function.Consumer<T> consumer)