Package com.ctre.phoenix

Class Util

java.lang.Object

com.ctre.phoenix.Util

public class Util
extends Object

Class with basic utility methods

Constructor Summary

Constructors

Constructor	Description
Util()

Method Summary

Modifier and Type	Method	Description
static double	cap(double value, double peak)	Caps the value
static double	scaleNativeUnitsToRotations(double scalar, long nativePos)	Scales native units to rotations
static double	scaleNativeUnitsToRpm(double scalar, long nativeVel)	Scales Native units to velocity
static int	scaleRotationsToNativeUnits(double scalar, double fullRotations)	Scales rotations to native units
static int	scaleVelocityToNativeUnits(double scalar, double rpm)	Scales velocity to native units

Methods inherited from class java.lang.Object

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

Constructor Details

Util

public Util()

Method Details

cap

public static double cap(double value, double peak)

Caps the value

Parameters:

value - Value to cap

peak - Maximum/-Minimum value can be

Returns:

Capped value

scaleRotationsToNativeUnits

public static int scaleRotationsToNativeUnits(double scalar, double fullRotations)

Scales rotations to native units

Parameters:

scalar - Value to scale by

fullRotations - Number of rotations to scale by

Returns:

Scaled units

scaleVelocityToNativeUnits

public static int scaleVelocityToNativeUnits(double scalar, double rpm)

Scales velocity to native units

Parameters:

scalar - Value to scale by

rpm - Velocity in rotations per minute

Returns:

Scaled velocity

scaleNativeUnitsToRotations

public static double scaleNativeUnitsToRotations(double scalar, long nativePos)

Scales native units to rotations

Parameters:

scalar - Value to scale by

nativePos - Native position units

Returns:

Scaled units

scaleNativeUnitsToRpm

public static double scaleNativeUnitsToRpm(double scalar, long nativeVel)

Scales Native units to velocity

Parameters:

scalar - Value to scale by

nativeVel - Native velocity units

Returns:

Scaled units