Functions extends Mathematics

Author: 6-BennyLi-9

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DriveAction.java

@@ -17,7 +17,7 @@
 import org.firstinspires.ftc.teamcode.Utils.Complex;
 import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
 import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
-import org.firstinspires.ftc.teamcode.Utils.Mathematics;
+import org.firstinspires.ftc.teamcode.Utils.Functions;
 
 public class DriveAction implements DriveOrder {
 	private final Classic classic;
@@ -48,7 +48,7 @@ public void SetPower(double power) {
 			@Override
 			public boolean run(@NonNull TelemetryPacket telemetryPacket) {
 				BufPower=power;
-				BufPower= Mathematics.intervalClip(BufPower,-1,1);
+				BufPower= Functions.intervalClip(BufPower,-1,1);
 				return false;
 			}
 		};

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DrivingActionsBuilder.java

@@ -9,7 +9,7 @@
 import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriverProgram;
 import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
 import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
-import org.firstinspires.ftc.teamcode.Utils.Mathematics;
+import org.firstinspires.ftc.teamcode.Utils.Functions;
 
 public class DrivingActionsBuilder implements DriveOrderBuilder {
 	private final DriveActionPackage actionPackage;
@@ -28,7 +28,7 @@ public DrivingActionsBuilder(@NonNull SimpleMecanumDrive drive) {
 
 	@Override
 	public DriveOrderBuilder SetPower(double power) {
-		power = Mathematics.intervalClip(power, -1f, 1f);
+		power = Functions.intervalClip(power, -1f, 1f);
 		cache = new DriveAction(drive.getClassic(), actionPackage.actions.getLast().BufPower, actionPackage.actions.getLast().NEXT());
 		cache.SetPower(power);
 		cache.trajectoryType = TrajectoryType.WithoutChangingPosition;
@@ -38,7 +38,7 @@ public DriveOrderBuilder SetPower(double power) {
 
 	@Override
 	public DriveOrderBuilder TurnRadians(double radians) {
-		radians = Mathematics.intervalClip(radians, -Math.PI, Math.PI);
+		radians = Functions.intervalClip(radians, -Math.PI, Math.PI);
 		cache = new DriveAction(drive.getClassic(), actionPackage.actions.getLast().BufPower, actionPackage.actions.getLast().NEXT());
 		cache.Turn(radians);
 		cache.trajectoryType = TrajectoryType.TurnOnly;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DriveCommand.java

@@ -10,7 +10,7 @@
 import org.firstinspires.ftc.teamcode.Utils.Complex;
 import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
 import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
-import org.firstinspires.ftc.teamcode.Utils.Mathematics;
+import org.firstinspires.ftc.teamcode.Utils.Functions;
 
 public class DriveCommand implements DriveOrder {
 	private final Classic classic;
@@ -45,7 +45,7 @@ public void SetPower(double power) {
 			@Override
 			public void runCommand() {
 				BufPower = power;
-				BufPower = Mathematics.intervalClip(BufPower, -1f, 1f);
+				BufPower = Functions.intervalClip(BufPower, -1f, 1f);
 			}
 		};
 	}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Commands/DrivingCommandsBuilder.java

@@ -8,7 +8,7 @@
 import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriverProgram;
 import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
 import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
-import org.firstinspires.ftc.teamcode.Utils.Mathematics;
+import org.firstinspires.ftc.teamcode.Utils.Functions;
 
 public class DrivingCommandsBuilder implements DriveOrderBuilder {
 	private final DriveCommandPackage commandPackage;
@@ -27,7 +27,7 @@ public DrivingCommandsBuilder(@NonNull SimpleMecanumDrive drive) {
 	}
 
 	public DrivingCommandsBuilder SetPower(double power) {
-		power = Mathematics.intervalClip(power, -1f, 1f);
+		power = Functions.intervalClip(power, -1f, 1f);
 		cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
 		cache.SetPower(power);
 		cache.trajectoryType = TrajectoryType.WithoutChangingPosition;
@@ -36,7 +36,7 @@ public DrivingCommandsBuilder SetPower(double power) {
 	}
 
 	public DrivingCommandsBuilder TurnRadians(double radians) {
-		radians = Mathematics.intervalClip(radians, -Math.PI, Math.PI);
+		radians = Functions.intervalClip(radians, -Math.PI, Math.PI);
 		cache = new DriveCommand(drive.getClassic(), commandPackage.commands.getLast().BufPower, commandPackage.commands.getLast().NEXT());
 		cache.Turn(radians);
 		cache.trajectoryType = TrajectoryType.TurnOnly;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/Classic.java

@@ -11,7 +11,7 @@
 import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.Utils.Enums.Quadrant;
 import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
-import org.firstinspires.ftc.teamcode.Utils.Mathematics;
+import org.firstinspires.ftc.teamcode.Utils.Functions;
 
 public class Classic {
 	public Motors motors;
@@ -98,7 +98,7 @@ public void drive(@NonNull driveDirection driveDirection, @NonNull Quadrant quad
 	 * @param angle 相较于机器的正方向，允许为[-180,180]内的实数(不是弧度，不是弧度，不是弧度）
 	 */
 	public void SimpleDrive(double power,double angle){
-		angle= Mathematics.angleRationalize(angle);
+		angle= Functions.angleRationalize(angle);
 
 		if(angle==0){
 			drive(driveDirection.forward,power);
@@ -122,7 +122,7 @@ public void SimpleDrive(double power,double angle){
 	}
 
 	public void SimpleRadiansDrive(double power,double radians){
-		radians=Mathematics.radiansRationalize(radians);
+		radians=Functions.radiansRationalize(radians);
 
 		SimpleDrive(power,Math.toDegrees(radians));
 	}
@@ -138,7 +138,7 @@ public void STOP(){
 	public void operateThroughGamePad(@NonNull Gamepad gamepad){
 		if(Params.Configs.useRightStickYToConfigRobotSpeed){
 			BufPower+=gamepad.right_stick_y*0.6;
-			BufPower=Mathematics.intervalClip(BufPower,-1,1);
+			BufPower=Functions.intervalClip(BufPower,-1,1);
 			motors.simpleMotorPowerController(
 					gamepad.left_stick_x*BufPower* Params.factorXPower,
 					gamepad.left_stick_y*BufPower* Params.factorYPower,

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/Motors.java

@@ -6,6 +6,7 @@
 import org.firstinspires.ftc.teamcode.Hardwares.namespace.DeviceMap;
 import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.Utils.Complex;
+import org.firstinspires.ftc.teamcode.Utils.Functions;
 import org.firstinspires.ftc.teamcode.Utils.Mathematics;
 import org.firstinspires.ftc.teamcode.Hardwares.namespace.HardwareDevices;
 
@@ -60,7 +61,7 @@ public void clearDriveOptions(){
 	public void updateDriveOptions(double headingDeg){
 		if( Params.Configs.driverUsingAxisPowerInsteadOfCurrentPower ){
 			double currentXPower,currentYPower,currentHeadingPower=headingPower;
-			headingDeg= Mathematics.angleRationalize(headingDeg);//防止有问题
+			headingDeg= Functions.angleRationalize(headingDeg);//防止有问题
 			Complex aim=new Complex(new Vector2d(xAxisPower,yAxisPower)),robotHeading=new Complex(headingDeg);
 			Complex Counterclockwise=new Complex(robotHeading.angleToYAxis());
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Functions.java

@@ -10,7 +10,7 @@
 import org.firstinspires.ftc.teamcode.Utils.Annotations.UtilFunctions;
 import org.firstinspires.ftc.teamcode.Utils.Enums.State;
 
-public final class Functions {
+public final class Functions extends Mathematics{
     @UtilFunctions
     public static double getCurrentTimeMills(){
         return System.nanoTime()/1.0E06;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Mathematics.java

@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.Utils;
 
-public final class Mathematics {
+public class Mathematics {
 	public static double intervalClip(double value,double min,double max){
 		return Math.min(Math.max(min,value),max);
 	}