util.hpp File Reference

Utility functions declarations. More...

#include <vector>

Go to the source code of this file.

Functions
float	lemlib::slew (float target, float current, float maxChange)
	Slew rate limiter. More...
float	lemlib::radToDeg (float rad)
	Convert radians to degrees. More...
float	lemlib::degToRad (float deg)
	Convert degrees to radians. More...
float	lemlib::angleError (float angle1, float angle2, bool radians=false)
	Calculate the error between 2 angles. Useful when calculating the error between 2 headings. More...
float	lemlib::sgn (float x)
	Return the sign of a number. More...
float	lemlib::avg (std::vector< float > values)
	Return the average of a vector of numbers. More...
double	lemlib::avg (std::vector< double > values)
	Return the average of a vector of numbers. More...

Detailed Description

Utility functions declarations.

Author

LemLib Team

Version

0.4.5

Date

2023-01-15

Copyright

Copyright (c) 2023

Function Documentation

angleError()

float lemlib::angleError	(	float	angle1,
		float	angle2,
		bool	radians = false
	)

Calculate the error between 2 angles. Useful when calculating the error between 2 headings.

Parameters

angle1
angle2
radians	true if angle is in radians, false if not. False by default

Returns

float wrapped angle

avg() [1/2]

double lemlib::avg

(

std::vector< double >

values

)

Return the average of a vector of numbers.

Parameters

values

Returns

double

avg() [2/2]

float lemlib::avg

(

std::vector< float >

values

)

Return the average of a vector of numbers.

Parameters

values

Returns

float

degToRad()

float lemlib::degToRad

(

float

deg

)

Convert degrees to radians.

Parameters

deg

degrees

Returns

float radians

radToDeg()

float lemlib::radToDeg

(

float

rad

)

Convert radians to degrees.

Parameters

rad

radians

Returns

float degrees

sgn()

float lemlib::sgn

(

float

x

)

Return the sign of a number.

Parameters

x	the number to get the sign of

Returns

float - -1 if negative, 1 if positive

slew()

float lemlib::slew	(	float	target,
		float	current,
		float	maxChange
	)

Slew rate limiter.

Parameters

target	target value
current	current value
maxChange	maximum change. No maximum if set to 0

Returns

float - the limited value