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Merged
WispySparks merged 1 commit into from
Apr 14, 2025
Merged

Add range transformer and new way to add library #4

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24 changes: 17 additions & 7 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -33,18 +33,28 @@ git submodule add -b master https://github.com/Armada2508/Library library
```
Of course if you want to track commits from a different branch then replace master with a branch of your choice.

Add `implementation ':library'` to your dependencies block in build.gradle. <br>
Add `includeBuild 'library'` to the end of your settings.gradle.
Add this block to your build.gradle.
```groovy
sourceSets {
main {
java {
srcDirs 'library/src/main/java/'
}
}
test {
java {
srcDirs 'library/src/test/java'
}
}
}
```
Add `ignoreFailures = true` to the test block in your build.gradle. Otherwise failing tests could stop a build/deploy.

Make sure source and target compatibility in build.gradle match that of the library, right now it's Java 17. <br>
Make sure GradleRIO version matches. <br>
Make sure you have all vendor deps installed for the library to work and that they're all up to date. Currently only CTRE Phoenix 6. <br>

#### Tests
If you want the tests within the library to be checked/ran when you build the project you must add this to your test block in the build.gradle.
```
dependsOn gradle.includedBuilds*.task(":test")
```

**Important** - I would run `./gradlew build` before continuing. <br>
### Updating your submodules
If you're at the root directory and you want to update the commit that the submodule points to on the branch specified in .gitmodules. (Pull from upstream)<br>
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2 changes: 1 addition & 1 deletion build.gradle
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@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2025.3.1"
id "edu.wpi.first.GradleRIO" version "2025.3.2"
id 'com.diffplug.spotless' version '6.25.0'
}

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36 changes: 36 additions & 0 deletions src/main/java/frc/robot/lib/util/RangeTransformer.java
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@@ -0,0 +1,36 @@
package frc.robot.lib.util;

import edu.wpi.first.math.MathUtil;

/**
* Helper class for mapping the range [a,b] onto the range [c,d]
*/
public class RangeTransformer {

public final double a;
public final double b;
public final double c;
public final double d;
public final boolean clamp;

public RangeTransformer(double a, double b, double c, double d, boolean clamp) {
if (a == b) throw new IllegalArgumentException("A != B");
this.a = a;
this.b = b;
this.c = c;
this.d = d;
this.clamp = clamp;
}

/**
* Takes a number in the range [a,b] and puts it in the range [c,d]
* @param x number in the range [a,b]
* @return number in the range [c,d]
*/
public double calculate(double x) {
double result = (c + ((d - c)/(b - a)) * (x - a));
if (clamp) return MathUtil.clamp(result, Math.min(c, d), Math.max(c, d));
return result;
}

}
60 changes: 30 additions & 30 deletions vendordeps/Phoenix6-frc2025-latest.json
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@@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-frc2025-latest.json",
"name": "CTRE-Phoenix (v6)",
"version": "25.3.1",
"version": "25.3.2",
"frcYear": "2025",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
Expand All @@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "25.3.1"
"version": "25.3.2"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -40,7 +40,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -54,7 +54,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -68,7 +68,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -82,7 +82,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -96,7 +96,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -110,7 +110,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -124,7 +124,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -166,7 +166,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -180,7 +180,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -194,7 +194,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -208,7 +208,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "25.3.1",
"version": "25.3.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -224,7 +224,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -240,7 +240,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -256,7 +256,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -272,7 +272,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -288,7 +288,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -304,7 +304,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -320,7 +320,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -336,7 +336,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -352,7 +352,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -368,7 +368,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -384,7 +384,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -400,7 +400,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -416,7 +416,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -432,7 +432,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "25.3.1",
"version": "25.3.2",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand Down