Util

Util

controller

The pros controller is defined globally in our library as master.

Prototype

void opcontrol() {
  while (true) {
    int l_stick = opcontrol_curve_left(master.get_analog(ANALOG_LEFT_Y));
    int r_stick = opcontrol_curve_left(master.get_analog(ANALOG_RIGHT_Y));
    
    chassis.drive_set(l_stick, r_stick);
    
    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

extern pros::Controller master();

screen_print()

Prints to the LLEMU. This function handles text that's too long for a line by finding the last word and starting it on a new line, and takes \n to set a new line.

text input string
line starting line

Prototype

Returns:
hello, this is line 0
this is line 1

void initialize() {
  ez::screen_print("hello, this is line 0\nthis is line 1");
}

Example

void screen_print(std::string text, int line)

Example 2

Returns:
01234567890123456789012345678901
hello

void initialize() {
  std::string 32char = 01234567890123456789012345678901;
  ez::print_to_screen(32char + "hello", 2);
}

to_string_with_precision()

Returns a string with a specific number of decimal points.

input your input value
n the amount of decimals you want to display

Prototype

std::string to_string_with_precision(double input, int n = 2);

Example

void initialize() {
  // This will print 1.23
  double test = 1.23456789;
  std::cout << ez::util::to_string_with_precision(test) << std::endl;
}

print_ez_template()

Prints our branding on your terminal :D.

Prototype

void initialize() {
  print_ez_template();
}

Example

void print_ez_template();

sgn()

Returns the sign of the input. Returns 1 if positive, -1 if negative, and 0 if 0.

input value to check the sign of

Prototype

void opcontrol() {
  while (true) {
    printf("Sgn of Controller: %i \n", sgn(master.get_analog(ANALOG_LEFT_Y)));

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

double sgn(double input);

clamp()

Returns input restricted to min-max threshold.

input your input value
max the maximum input can be
min the minimum input can be

Prototype

void opcontrol() {
  while (true) {
    int joy = master.get_analog(ANALOG_LEFT_Y);

    // When the joystick is between 100 and 127
    // (or -100 and -127) this will print 100 (or -100).
    printf("Clipped Controller: %i \n", clamp(joy, 100, -100)); 
  }
}

Example

double clamp(double input, double max, double min);

clamp()

Returns input restricted to min-max threshold.

The minimum used is negative max.

input your input value
max the maximum input can be
min the absolute value maximum input can be

Prototype

void opcontrol() {
  while (true) {
    int joy = master.get_analog(ANALOG_LEFT_Y);

    // When the joystick is between 100 and 127
    // (or -100 and -127) this will print 100 (or -100).
    printf("Clipped Controller: %i \n", clamp(joy, 100)); 
  }
}

Example

double clamp(double input, double max);

DELAY_TIME

Standard delay time for loops in ms.

Prototype

void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

const int DELAY_TIME = 10;

IS_SD_CARD

Boolean that checks if an SD card is installed. True if there is one, false if there isn't.

Prototype

void initialize() {
  if (!ez::util::IS_SD_CARD) 
    printf("No SD Card Found!\n");
}

Example

const bool IS_SD_CARD = pros::usd::is_installed();

to_deg()

Converts radians to degrees.

input your input radian

Prototype

double to_deg(double input);

Example

void initialize() {
  double test = ez::util::to_deg(3.14);
  std::cout << ez::util::to_string_with_precision(test) << std::endl;
}

to_rad()

Converts degrees to radians.

input your input degree

Prototype

double to_deg(double input);

Example

void initialize() {
  double test = ez::util::to_rad(180.0);
  std::cout << ez::util::to_string_with_precision(test) << std::endl;
}

absolute_angle_to_point()

Returns the angle between two points.

itarget target pose
icurrent current pose

Prototype

double absolute_angle_to_point(pose itarget, pose icurrent);

Example

void initialize() {
  double test = ez::util::absolute_angle_to_point({12, 12}, {0, 0});
  std::cout << ez::util::to_string_with_precision(test) << std::endl;
}

distance_to_point()

Returns the distance between two points.

itarget target pose
icurrent current pose

Prototype

double distance_to_point(pose itarget, pose icurrent);

Example

void initialize() {
  double test = ez::util::distance_to_point({12, 12}, {0, 0});
  std::cout << ez::util::to_string_with_precision(test) << std::endl;
}

wrap_angle()

Constrains an angle between 180 and -180.

wrap_angle input angle in degrees

Prototype

double wrap_angle(double theta);

Example

void initialize() {
  double test = ez::util::wrap_angle(3600);
  std::cout << ez::util::to_string_with_precision(test) << std::endl;
}

vector_off_point()

Returns a new pose that is projected off of the current pose.

added how far to project a new point
icurrent point to project off of

Prototype

pose vector_off_point(double added, pose icurrent);

Example

void initialize() {
  ez::pose test = ez::util::vector_off_point(24, {0, 0, 0});
  printf("(%.2f, %.2f, %.2f)\n", test.x, test.y, test.theta);
}