Utility Functions

This is a collection of utility functions that do not fit in one of the other catagories.

Usage

now

Returns the current time in seconds since the program started.

Usage

units::second_t time = wom::now();

WritePose2NT

Writes a Pose2d to a NetworkTable.

Usage

wom::WritePose2NT(table, pose);

WritePose3NT

Writes a Pose3d to a NetworkTable.

Usage

wom::WritePose3NT(table, pose);

WriteTrajectory

Writes a Trajectory to a NetworkTable.

Usage

wom::WriteTrajectory(table, trajectory);

WriteTrajectoryState

Writes a Trajectory State (frc::Trajectory::State) to a NetworkTable.

Usage

wom::WriteTrajectoryState(table, trajectoryState);

TrajectoryStateToPose2d

Converts a Trajectory State (frc::Trajectory::State) to a Pose2d.

Usage

Pose2d pose = wom::TrajectoryStateToPose2d(trajectoryState);

deadzone

Returns 0 if the value is within the deadzone, otherwise returns the value.

Usage

double val = wom::deadzone(0.1, 0.05);

spow2

Returns the square of the value.

Usage

double val = wom::spow2(2);

NTBound

A class that binds a NetworkTable entry to a variable.

Constructor

wom::NTBound(std::shared_ptr<nt::NetworkTable> table, std::string name, const nt::Value &value,
        std::function<void(const nt::Value &)> onUpdateFn)

Example

wom::NTBound bound = wom::NTBound(table, "name", nt::Value::MakeDouble(0), [](const nt::Value &v) {
  std::cout << "Value updated to " << v.GetDouble() << std::endl;
});

NTBoundDouble

A class that binds a NetworkTable entry to a double.

Constructor

wom::NTBoundDouble(std::shared_ptr<nt::NetworkTable> table, std::string name, double &val)

Example

double val = 0;

wom::NTBoundDouble bound = wom::NTBoundDouble(table, "name", val);

NTBoundUnit

A class that binds a NetworkTable entry to a unit.

Constructor

wom::NTBoundUnit(std::shared_ptr<nt::NetworkTable> table, std::string name, units::unit_t<T> &val)

Example

units::meter_t val = 0_m;

wom::NTBoundUnit bound = wom::NTBoundUnit(table, "name", val);