| Nathan Leong | 217cd76 | 2022-10-22 16:07:30 -0700 | [diff] [blame^] | 1 | #include "frc971/wpilib/wpilib_utils.h" |
| 2 | |
| 3 | namespace frc971 { |
| 4 | namespace wpilib { |
| 5 | |
| 6 | bool SafePotVoltageRange(::frc971::constants::Range subsystem_range, |
| 7 | double potentiometer_offset, |
| 8 | ::std::function<double(double)> pot_translate_inverse, |
| 9 | bool reverse, double limit_buffer) { |
| 10 | constexpr double kMinVoltage = 0.0; |
| 11 | constexpr double kMaxVoltage = 5.0; |
| 12 | double min_range_voltage = |
| 13 | pot_translate_inverse(subsystem_range.lower_hard - potentiometer_offset); |
| 14 | double max_range_voltage = |
| 15 | pot_translate_inverse(subsystem_range.upper_hard - potentiometer_offset); |
| 16 | if (reverse) { |
| 17 | min_range_voltage *= -1; |
| 18 | max_range_voltage *= -1; |
| 19 | } |
| 20 | return ((kMinVoltage + limit_buffer) < min_range_voltage && |
| 21 | min_range_voltage < (kMaxVoltage - limit_buffer) && |
| 22 | (kMinVoltage + limit_buffer) < max_range_voltage && |
| 23 | max_range_voltage < (kMaxVoltage - limit_buffer)); |
| 24 | } |
| 25 | } // namespace wpilib |
| 26 | } // namespace frc971 |