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Mark ControlUtil.deadband deprecated. Turns out, there is an equivale… #78

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Merged
vdikov merged 1 commit into from
Oct 13, 2025
Merged

Mark ControlUtil.deadband deprecated. Turns out, there is an equivale… #78

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14 changes: 5 additions & 9 deletions lib/src/main/java/com/team2813/lib2813/util/ControlUtils.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
package com.team2813.lib2813.util;

import edu.wpi.first.math.MathUtil;

/** Utility class for comon control-related utility functions. */
public class ControlUtils {
private ControlUtils() {
Expand All @@ -21,7 +23,9 @@ private ControlUtils() {
* @param deadband The deadband range value, must be in [0.0, 1.0).
* @return The deadbanded value.
* @throws IllegalArgumentException If the value or deadband is out of bounds.
* @deprecated Use edu.wpi.first.math.MathUtil.applyDeadband instead.
*/
@Deprecated(forRemoval = true)
public static double deadband(double value, double deadband) {
if (deadband < 0.0 || deadband >= 1.0) {
throw new IllegalArgumentException(
Expand All @@ -30,14 +34,6 @@ public static double deadband(double value, double deadband) {
if (value < -1.0 || value > 1.0) {
throw new IllegalArgumentException("Value must be in [-1.0, 1.0]. Instead, it was " + value);
}
if (Math.abs(value) <= deadband) {
return 0.0;
} else {
if (value > 0.0) {
return (value - deadband) / (1.0 - deadband);
} else {
return (value + deadband) / (1.0 - deadband);
}
}
return MathUtil.applyDeadband(value, deadband);
}
}
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