com.explodingbacon.bcnlib.utils

Class Utils

java.lang.Object

com.explodingbacon.bcnlib.utils.Utils

public class Utils
extends java.lang.Object

A Utility class that contains helpful functions that don't really fit in any other classes.

Constructor Summary

Constructors

Constructor and Description
Utils()

Method Summary

Modifier and Type	Method and Description
static double	cap(double val, double cap)
static double	deadzone(double d, double deadzone) Applies a deadzone to a value.
static double	getDegreesToTurn(double x) Gets how many degrees the Robot needs to turn to get x in the center of the camera's vision.
static double	getDegreesToTurn(double x, double target) Gets how many degrees the Robot needs to turn to get x to target.
static double	getDistanceFromPx(double sizeInInches, double sizeInPx) Gets a distance from a certain object.
static int	getKeycode(char c) Gets the keycode for a character.
static int	getThreadCount() Gets the amount of Threads running.
static boolean	isIntClass(java.lang.Class c) Checks if a Class is an Integer or int class.
static double	maxDouble(double... nums) Get the absolute value of the largest number passed of an arbitrary number of doubles
static double	minMax(double val, double min, double max) Taking a value, bound it with a max and a deadzone respecting the sign of the input.
static java.lang.String	newLine() Gets the new line character for the current operating system.
static double	rescale(double original, double originalScaleMax, double newScaleMax)
static int	round(double d) Rounds a Double to an Integer.
static double	roundToDecimals(double number, int decimalPlaces) Rounds a double down to a certain amount of decimal places.
static double	roundToPlace(double d, double place)
static void	runInOwnThread(java.lang.Runnable r) Runs code in it's own separate Thread.
static double	sign(double d) Returns 1 if d is positive or 0, returns -1 if d is negative.

Methods inherited from class java.lang.Object

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

Constructor Detail

Utils

public Utils()

Method Detail

cap

public static double cap(double val,
                         double cap)

minMax

public static double minMax(double val,
                            double min,
                            double max)

Taking a value, bound it with a max and a deadzone respecting the sign of the input. Useful for sending values to motors.

Parameters:

val - The value to be compared

min - The minimum value to accept. Below this, it returns 0.

max - The maximum value to accept. Above this, it returns this.

Returns:

A value scaled by min and max.

deadzone

public static double deadzone(double d,
                              double deadzone)

Applies a deadzone to a value. If the value is bigger than the value, the value is returned. Otherwise, 0 is returned. Useful for deadzones on motor/joystick values.

Parameters:

d - The value to be deadzoned.

deadzone - The deadzone.

Returns:

If the value is bigger than the value, the value is returned. Otherwise, 0 is returned.

sign

public static double sign(double d)

Returns 1 if d is positive or 0, returns -1 if d is negative.

Parameters:

d - The number who's sign we're checking.

Returns:

1 if d is positive or 0, -1 if d is negative.

getDistanceFromPx

public static double getDistanceFromPx(double sizeInInches,
                                       double sizeInPx)

Gets a distance from a certain object. TODO: Make a version of this that works for other cameras with different FOVs and stuff

Parameters:

sizeInPx - The size of the object in pixels.

Returns:

The distance from the object.

getDegreesToTurn

public static double getDegreesToTurn(double x)

Gets how many degrees the Robot needs to turn to get x in the center of the camera's vision.

Parameters:

x - The coordinate.

Returns:

How many degrees the Robot needs to turn to get x in the center of the camera's vision.

getDegreesToTurn

public static double getDegreesToTurn(double x,
                                      double target)

Gets how many degrees the Robot needs to turn to get x to target.

Parameters:

x - The coordinate.

target - Where you want x to wind up.

Returns:

How many degrees the Robot needs to turn to get x to target.

roundToDecimals

public static double roundToDecimals(double number,
                                     int decimalPlaces)

Rounds a double down to a certain amount of decimal places.

Parameters:

number - The number to be rounded.

decimalPlaces - The decimal places.

Returns:

The double rounded down to a certain amount of decimal places.

round

public static int round(double d)

Rounds a Double to an Integer.

Parameters:

d - The Double to be rounded.

Returns:

The Integer.

getThreadCount

public static int getThreadCount()

Gets the amount of Threads running.

Returns:

The amount of Threads running.

newLine

public static java.lang.String newLine()

Gets the new line character for the current operating system.

Returns:

The new line character for the current operating system.

isIntClass

public static boolean isIntClass(java.lang.Class c)

Checks if a Class is an Integer or int class.

Parameters:

c - The Class to be checked.

Returns:

If a Class is an Integer or int class.

runInOwnThread

public static void runInOwnThread(java.lang.Runnable r)

Runs code in it's own separate Thread. TODO: Check if this works properly

Parameters:

r - The code to be run.

getKeycode

public static int getKeycode(char c)

Gets the keycode for a character.

Parameters:

c - The character.

Returns:

The keycode.

maxDouble

public static double maxDouble(double... nums)

Get the absolute value of the largest number passed of an arbitrary number of doubles

Parameters:

nums - Doubles to search through

Returns:

The absolute value of the largest number in nums

roundToPlace

public static double roundToPlace(double d,
                                  double place)

rescale

public static double rescale(double original,
                             double originalScaleMax,
                             double newScaleMax)