Utilities.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
namespace ctre {
namespace phoenix {
    
/**
 * Class with basic utility methods
 */
class Utilities {
public:
    /**
     * Calculates absolute value of f
     * @param f value to calculate absolute value of
     * @return absolute value of f
     */
    static float abs(float f);
    /**
     * Caps the value
     * @param value Value to cap
     * @param capValue Maximum/-Minimum value can be
     * @return Capped value
     */
    static float bound(float value, float capValue = 1);
    /**
     * Caps the value
     * @param value Value to cap
     * @param peak Maximum/-Minimum value can be
     * @return Capped value
     */
    static float cap(float value, float peak);
    /**
     * Deadbands the value
     * @param value reference of value to deadband
     * @param deadband If abs of value is under this, it will be brought to 0
     */
    static void Deadband(float &value, float deadband = -.10f);
    /**
     * Calculates if value is within a delta
     * @param value initial value to compare
     * @param compareTo value to compare against first value
     * @param allowDelta the range value can be away from compareTo
     * @return true if value is within allowDelta range of compareTo
     */
    static bool IsWithin(float value, float compareTo, float allowDelta);
    /**
     * Gets the minimum of the two values
     * @param value_1 first value
     * @param value_2 second value
     * @return minimum value
     */
    static int SmallerOf(int value_1, int value_2);
    /**
     * Converts forward and turn to left and right speeds
     * @param forward forward value of robot
     * @param turn turn value of robot
     * @param left Pointer to the left speed of robot, this will be filled
     * @param right Pointer to the right speed of robot, this will be filled
     */
    static void Split_1(float forward, float turn, float *left, float *right);
    /**
     * Converts left and right to forward and turn speeds
     * @param left left speed of robot
     * @param right right speed of robot
     * @param forward Pointer to the forward speed of the robot, this will be filled
     * @param turn Pointer to the turn speed of the robot, this will be filled
     */
    static void Split_2(float left, float right, float *forward, float *turn);
private:
    static bool Contains(char array[], char item);
};
 
}}