| #include "frc971/wpilib/wpilib_utils.h" |
| |
| namespace frc971::wpilib { |
| |
| bool SafePotVoltageRange(::frc971::constants::Range subsystem_range, |
| double potentiometer_offset, |
| ::std::function<double(double)> pot_translate_inverse, |
| bool reverse, double limit_buffer) { |
| constexpr double kMinVoltage = 0.0; |
| constexpr double kMaxVoltage = 5.0; |
| double min_range_voltage = |
| pot_translate_inverse(subsystem_range.lower_hard - potentiometer_offset); |
| double max_range_voltage = |
| pot_translate_inverse(subsystem_range.upper_hard - potentiometer_offset); |
| if (reverse) { |
| min_range_voltage *= -1; |
| max_range_voltage *= -1; |
| } |
| return ((kMinVoltage + limit_buffer) < min_range_voltage && |
| min_range_voltage < (kMaxVoltage - limit_buffer) && |
| (kMinVoltage + limit_buffer) < max_range_voltage && |
| max_range_voltage < (kMaxVoltage - limit_buffer)); |
| } |
| } // namespace frc971::wpilib |