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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,120 @@ | ||
| // Copyright (c) 2024 FRC 6328 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file at | ||
| // the root directory of this project. | ||
|
|
||
| package coppercore.controls; | ||
|
|
||
| import java.util.Arrays; | ||
| import java.util.HashMap; | ||
| import java.util.Map; | ||
| import java.util.function.BooleanSupplier; | ||
| import java.util.function.Consumer; | ||
| import java.util.function.DoubleSupplier; | ||
| import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; | ||
|
|
||
| /** | ||
| * Class for a tunable number. Gets value from dashboard in tuning mode, returns default if not or | ||
| * value not in dashboard. | ||
| */ | ||
| public class LoggedTunableNumber implements DoubleSupplier { | ||
| private static final String tableKey = "TunableNumbers"; | ||
|
|
||
| private final String key; | ||
| private boolean hasDefault = false; | ||
| private double defaultValue; | ||
| private LoggedDashboardNumber dashboardNumber; | ||
| private Map<Integer, Double> lastHasChangedValues = new HashMap<>(); | ||
| private BooleanSupplier condition = () -> true; | ||
|
|
||
| /** | ||
| * Create a new LoggedTunableNumber with the default value | ||
| * | ||
| * @param dashboardKey Key on dashboard | ||
| * @param defaultValue Default value | ||
| */ | ||
| public LoggedTunableNumber(String dashboardKey, double defaultValue) { | ||
| this.key = tableKey + "/" + dashboardKey; | ||
| initDefault(defaultValue); | ||
| } | ||
|
|
||
| /** | ||
| * Set the default value of the number. The default value can only be set once. | ||
| * | ||
| * @param defaultValue The default value | ||
| */ | ||
| private void initDefault(double defaultValue) { | ||
| if (!hasDefault) { | ||
| hasDefault = true; | ||
| this.defaultValue = defaultValue; | ||
| if (condition.getAsBoolean()) { | ||
| dashboardNumber = new LoggedDashboardNumber(key, defaultValue); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| public void setInitCondition(BooleanSupplier condition) { | ||
| this.condition = condition; | ||
| } | ||
|
|
||
| /** | ||
| * Get the current value, from dashboard if available and in tuning mode. | ||
| * | ||
| * @return The current value | ||
| */ | ||
| @Override | ||
| public double getAsDouble() { | ||
| if (!hasDefault) { | ||
| return 0.0; | ||
| } else { | ||
| return condition.getAsBoolean() && dashboardNumber != null | ||
| ? dashboardNumber.get() | ||
| : defaultValue; | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Checks whether the number has changed since our last check | ||
| * | ||
| * @param id Unique identifier for the caller to avoid conflicts when shared between multiple | ||
| * objects. Recommended approach is to pass the result of "hashCode()" | ||
| * @return True if the number has changed since the last time this method was called, false | ||
| * otherwise. | ||
| */ | ||
| public boolean hasChanged(int id) { | ||
| double currentValue = getAsDouble(); | ||
| Double lastValue = lastHasChangedValues.get(id); | ||
| if (lastValue == null || currentValue != lastValue) { | ||
| lastHasChangedValues.put(id, currentValue); | ||
| return true; | ||
| } | ||
|
|
||
| return false; | ||
| } | ||
|
|
||
| /** | ||
| * Runs action if any of the tunableNumbers have changed | ||
| * | ||
| * @param id Unique identifier for the caller to avoid conflicts when shared between multiple * | ||
| * objects. Recommended approach is to pass the result of "hashCode()" | ||
| * @param action Callback to run when any of the tunable numbers have changed. Access tunable | ||
| * numbers in order inputted in method | ||
| * @param tunableNumbers All tunable numbers to check | ||
| */ | ||
| public static void ifChanged( | ||
| int id, Consumer<double[]> action, LoggedTunableNumber... tunableNumbers) { | ||
| if (Arrays.stream(tunableNumbers).anyMatch(tunableNumber -> tunableNumber.hasChanged(id))) { | ||
| action.accept( | ||
| Arrays.stream(tunableNumbers) | ||
| .mapToDouble(LoggedTunableNumber::getAsDouble) | ||
| .toArray()); | ||
| } | ||
| } | ||
|
|
||
| /** Runs action if any of the tunableNumbers have changed */ | ||
| public static void ifChanged(int id, Runnable action, LoggedTunableNumber... tunableNumbers) { | ||
| ifChanged(id, values -> action.run(), tunableNumbers); | ||
| } | ||
| } |
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|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| { | ||
| "fileName": "AdvantageKit.json", | ||
| "name": "AdvantageKit", | ||
| "version": "3.2.1", | ||
| "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", | ||
| "frcYear": "2024", | ||
| "mavenUrls": [], | ||
| "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", | ||
| "javaDependencies": [ | ||
| { | ||
| "groupId": "org.littletonrobotics.akit.junction", | ||
| "artifactId": "wpilib-shim", | ||
| "version": "3.2.1" | ||
| }, | ||
| { | ||
| "groupId": "org.littletonrobotics.akit.junction", | ||
| "artifactId": "junction-core", | ||
| "version": "3.2.1" | ||
| }, | ||
| { | ||
| "groupId": "org.littletonrobotics.akit.conduit", | ||
| "artifactId": "conduit-api", | ||
| "version": "3.2.1" | ||
| } | ||
| ], | ||
| "jniDependencies": [ | ||
| { | ||
| "groupId": "org.littletonrobotics.akit.conduit", | ||
| "artifactId": "conduit-wpilibio", | ||
| "version": "3.2.1", | ||
| "skipInvalidPlatforms": false, | ||
| "isJar": false, | ||
| "validPlatforms": [ | ||
| "linuxathena", | ||
| "windowsx86-64", | ||
| "linuxx86-64", | ||
| "osxuniversal" | ||
| ] | ||
| } | ||
| ], | ||
| "cppDependencies": [] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| { | ||
| "fileName": "WPILibNewCommands.json", | ||
| "name": "WPILib-New-Commands", | ||
| "version": "1.0.0", | ||
| "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", | ||
| "frcYear": "2024", | ||
| "mavenUrls": [], | ||
| "jsonUrl": "", | ||
| "javaDependencies": [ | ||
| { | ||
| "groupId": "edu.wpi.first.wpilibNewCommands", | ||
| "artifactId": "wpilibNewCommands-java", | ||
| "version": "wpilib" | ||
| } | ||
| ], | ||
| "jniDependencies": [], | ||
| "cppDependencies": [ | ||
| { | ||
| "groupId": "edu.wpi.first.wpilibNewCommands", | ||
| "artifactId": "wpilibNewCommands-cpp", | ||
| "version": "wpilib", | ||
| "libName": "wpilibNewCommands", | ||
| "headerClassifier": "headers", | ||
| "sourcesClassifier": "sources", | ||
| "sharedLibrary": true, | ||
| "skipInvalidPlatforms": true, | ||
| "binaryPlatforms": [ | ||
| "linuxathena", | ||
| "linuxarm32", | ||
| "linuxarm64", | ||
| "windowsx86-64", | ||
| "windowsx86", | ||
| "linuxx86-64", | ||
| "osxuniversal" | ||
| ] | ||
| } | ||
| ] | ||
| } |
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