Add out-of-the-box mappers

edinaftc · Dec 19, 2018 · ef5a9c8 · ef5a9c8
1 parent 972411c
commit ef5a9c8
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Showing 2 changed files with 13 additions and 6 deletions.
diff --git a/NinevoltLib/src/main/java/com/edinaftc/ninevolt/core/hw/drivetrain/Movement.java b/NinevoltLib/src/main/java/com/edinaftc/ninevolt/core/hw/drivetrain/Movement.java
@@ -106,12 +106,7 @@ protected void logPowerInfo(double startTime) {
    * proportions between values.
    */
   protected void scaleWheelValues() {
-    valuesAbs.mapFrom(values, new WheelValues.Mapper() {
-      @Override
-      public double apply(double val) {
-        return Math.abs(val);
-      }
-    });
+    valuesAbs.mapFrom(values, WheelValues.Mapper.ABS);
 
     final double maxAbs = valuesAbs.max();
     if (maxAbs > 1) {

diff --git a/NinevoltLib/src/main/java/com/edinaftc/ninevolt/core/hw/drivetrain/WheelValues.java b/NinevoltLib/src/main/java/com/edinaftc/ninevolt/core/hw/drivetrain/WheelValues.java
@@ -7,6 +7,18 @@ public class WheelValues {
   private double br;
 
   public interface Mapper {
+    Mapper ABS = new Mapper() {
+      @Override
+      public double apply(double val) {
+        return Math.abs(val);
+      }
+    };
+    Mapper SIGMOID = new Mapper() {
+      @Override
+      public double apply(double val) {
+        return val / (1 + Math.abs(val));
+      }
+    };
     double apply(double val);
   }