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Added port numbers and slightly tuned pid
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,121 +1,122 @@ | ||
| package frc.lib.utils; | ||
|
|
||
| import frc.robot.Constants; | ||
| // FROM 6328 Mechanical Advantage | ||
| import java.util.Arrays; | ||
| import java.util.HashMap; | ||
| import java.util.Map; | ||
| import java.util.function.Consumer; | ||
| import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; | ||
| import frc.robot.Constants; | ||
| // FROM 6328 Mechanical Advantage | ||
|
|
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| /** | ||
| * Class for a tunable number. Gets value from dashboard in tuning mode, returns default if not or | ||
| * value not in dashboard. | ||
| */ | ||
| public class LoggedTunableNumber { | ||
| private static final String tableKey = "TunableNumbers"; | ||
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| private final String key; | ||
| private boolean hasDefault = false; | ||
| private double defaultValue; | ||
| private LoggedDashboardNumber dashboardNumber; | ||
| private Map<Integer, Double> lastHasChangedValues = new HashMap<>(); | ||
| private static final String tableKey = "TunableNumbers"; | ||
|
|
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| /** | ||
| * Create a new LoggedTunableNumber | ||
| * | ||
| * @param dashboardKey Key on dashboard | ||
| */ | ||
| public LoggedTunableNumber(String dashboardKey, String tableKey) { | ||
| this.key = tableKey + "/" + dashboardKey; | ||
| // this.key = tableKey + "/" + dashboardKey; | ||
| } | ||
| private final String key; | ||
| private boolean hasDefault = false; | ||
| private double defaultValue; | ||
| private LoggedDashboardNumber dashboardNumber; | ||
| private Map<Integer, Double> lastHasChangedValues = new HashMap<>(); | ||
|
|
||
| /** | ||
| * Create a new LoggedTunableNumber with the default value | ||
| * | ||
| * @param dashboardKey Key on dashboard | ||
| * @param defaultValue Default value | ||
| */ | ||
| public LoggedTunableNumber(String dashboardKey, double defaultValue) { | ||
| this(dashboardKey, tableKey); | ||
| initDefault(defaultValue); | ||
| } | ||
| /** | ||
| * Create a new LoggedTunableNumber | ||
| * | ||
| * @param dashboardKey Key on dashboard | ||
| */ | ||
| public LoggedTunableNumber(String dashboardKey, String tableKey) { | ||
| this.key = tableKey + "/" + dashboardKey; | ||
| // this.key = tableKey + "/" + dashboardKey; | ||
| } | ||
|
|
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| public LoggedTunableNumber(String dashboardKey, double defaultValue, String tableKey) { | ||
| this(dashboardKey, tableKey); | ||
| initDefault(defaultValue); | ||
| } | ||
| /** | ||
| * Create a new LoggedTunableNumber with the default value | ||
| * | ||
| * @param dashboardKey Key on dashboard | ||
| * @param defaultValue Default value | ||
| */ | ||
| public LoggedTunableNumber(String dashboardKey, double defaultValue) { | ||
| this(dashboardKey, tableKey); | ||
| initDefault(defaultValue); | ||
| } | ||
|
|
||
| /** | ||
| * Set the default value of the number. The default value can only be set once. | ||
| * | ||
| * @param defaultValue The default value | ||
| */ | ||
| public void initDefault(double defaultValue) { | ||
| if (!hasDefault) { | ||
| hasDefault = true; | ||
| this.defaultValue = defaultValue; | ||
| if (Constants.tuningMode) { | ||
| dashboardNumber = new LoggedDashboardNumber(key, defaultValue); | ||
| } | ||
| } | ||
| } | ||
| public LoggedTunableNumber(String dashboardKey, double defaultValue, String tableKey) { | ||
| this(dashboardKey, tableKey); | ||
| initDefault(defaultValue); | ||
| } | ||
|
|
||
| /** | ||
| * Get the current value, from dashboard if available and in tuning mode. | ||
| * | ||
| * @return The current value | ||
| */ | ||
| public double get() { | ||
| if (!hasDefault) { | ||
| return 0.0; | ||
| } else { | ||
| return Constants.tuningMode ? dashboardNumber.get() : defaultValue; | ||
| } | ||
| /** | ||
| * Set the default value of the number. The default value can only be set once. | ||
| * | ||
| * @param defaultValue The default value | ||
| */ | ||
| public void initDefault(double defaultValue) { | ||
| if (!hasDefault) { | ||
| hasDefault = true; | ||
| this.defaultValue = defaultValue; | ||
| if (Constants.tuningMode) { | ||
| dashboardNumber = new LoggedDashboardNumber(key, defaultValue); | ||
| } | ||
| } | ||
| } | ||
|
|
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| public void set(double val){ | ||
| dashboardNumber.set(val); | ||
| /** | ||
| * Get the current value, from dashboard if available and in tuning mode. | ||
| * | ||
| * @return The current value | ||
| */ | ||
| public double get() { | ||
| if (!hasDefault) { | ||
| return 0.0; | ||
| } else { | ||
| return Constants.tuningMode ? 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) { | ||
| if (!Constants.tuningMode) return false; | ||
| double currentValue = get(); | ||
| Double lastValue = lastHasChangedValues.get(id); | ||
| if (lastValue == null || currentValue != lastValue) { | ||
| lastHasChangedValues.put(id, currentValue); | ||
| return true; | ||
| } | ||
| public void set(double val) { | ||
| dashboardNumber.set(val); | ||
| } | ||
|
|
||
| return false; | ||
| /** | ||
| * 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) { | ||
| if (!Constants.tuningMode) return false; | ||
| double currentValue = get(); | ||
| Double lastValue = lastHasChangedValues.get(id); | ||
| if (lastValue == null || currentValue != lastValue) { | ||
| lastHasChangedValues.put(id, currentValue); | ||
| return true; | ||
| } | ||
|
|
||
| /** | ||
| * 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::get).toArray()); | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| /** 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); | ||
| /** | ||
| * 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::get).toArray()); | ||
| } | ||
| } | ||
| } | ||
|
|
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| /** 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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