inline value and mechanism sensors

team4099 · Jan 22, 2023 · fe60d70 · fe60d70
1 parent b8e4a1a
commit fe60d70
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Showing 3 changed files with 54 additions and 48 deletions.
diff --git a/build.gradle b/build.gradle
@@ -51,7 +51,7 @@ publishing {
 		release(MavenPublication) {
 			groupId = 'org.team4099'
 			artifactId = 'falconutils'
-			version = '1.1.0'
+			version = '1.1.1'
 
 			from(components["kotlin"])
 		}

diff --git a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
@@ -72,44 +72,45 @@ interface MechanismSensor<U : UnitKey> {
 }
 
 class LinearMechanismSensor(
-  private val diameter: Length,
-  private val ratio: Double,
-  private val timescale: Timescale,
-  private val fullPowerThrottle: Double,
-  private val compensationVoltage: ElectricalPotential,
+  val diameter: Length,
+  val ratio: Double,
+  val timescale: Timescale,
+  val fullPowerThrottle: Double,
+  val compensationVoltage: ElectricalPotential,
   val getRawVelocity: () -> Double,
   val getRawPosition: () -> Double
 ) : MechanismSensor<Meter> {
-  override val position: Length
+  override inline val position: Length
     get() = (diameter * PI) * getRawPosition() * ratio
 
-  override val velocity: Value<Velocity<Meter>>
+  override inline val velocity: Value<Velocity<Meter>>
     get() {
       val linearUnscaledVelocity = diameter.inMeters * getRawVelocity() * ratio * PI
       return (linearUnscaledVelocity / timescale.velocity.inSeconds).meters.perSecond
     }
 
-  override fun positionToRawUnits(position: Value<Meter>): Double = position / diameter / ratio / PI
+  override inline fun positionToRawUnits(position: Value<Meter>): Double =
+    position / diameter / ratio / PI
 
-  override fun velocityToRawUnits(velocity: Value<Velocity<Meter>>): Double {
+  override inline fun velocityToRawUnits(velocity: Value<Velocity<Meter>>): Double {
     val linearUnscaledVelocity = velocity.inMetersPerSecond * timescale.velocity.inSeconds
     return linearUnscaledVelocity / diameter.inMeters / ratio / PI
   }
 
-  override fun accelerationToRawUnits(acceleration: Value<Acceleration<Meter>>): Double {
+  override inline fun accelerationToRawUnits(acceleration: Value<Acceleration<Meter>>): Double {
     val linearUnscaledVelocity =
       velocity.inMetersPerSecond * timescale.velocity.inSeconds * timescale.acceleration.inSeconds
     return linearUnscaledVelocity / diameter.inMeters / ratio / PI
   }
 
-  override fun proportionalPositionGainToRawUnits(
+  override inline fun proportionalPositionGainToRawUnits(
     proportionalGain: ProportionalGain<Meter, Volt>
   ): Double {
     return (proportionalGain.inVoltsPerMeter / (positionToRawUnits(1.meters))) /
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun integralPositionGainToRawUnits(
+  override inline fun integralPositionGainToRawUnits(
     integralGain: IntegralGain<Meter, Volt>,
   ): Double {
     return (
@@ -119,7 +120,7 @@ class LinearMechanismSensor(
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun derivativePositionGainToRawUnits(
+  override inline fun derivativePositionGainToRawUnits(
     derivativeGain: DerivativeGain<Meter, Volt>,
   ): Double {
     return (
@@ -128,14 +129,14 @@ class LinearMechanismSensor(
       ) / compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun proportionalVelocityGainToRawUnits(
+  override inline fun proportionalVelocityGainToRawUnits(
     proportionalGain: ProportionalGain<Velocity<Meter>, Volt>
   ): Double {
     return (proportionalGain.inVoltsPerMetersPerSecond / (velocityToRawUnits(1.meters.perSecond))) /
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun integralVelocityGainToRawUnits(
+  override inline fun integralVelocityGainToRawUnits(
     integralGain: IntegralGain<Velocity<Meter>, Volt>,
   ): Double {
     return (
@@ -145,7 +146,7 @@ class LinearMechanismSensor(
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun derivativeVelocityGainToRawUnits(
+  override inline fun derivativeVelocityGainToRawUnits(
     derivativeGain: DerivativeGain<Velocity<Meter>, Volt>,
   ): Double {
     return (
@@ -154,7 +155,7 @@ class LinearMechanismSensor(
       ) / compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun velocityFeedforwardToRawUnits(
+  override inline fun velocityFeedforwardToRawUnits(
     velocityFeedforward: VelocityFeedforward<Meter, Volt>
   ): Double {
     return velocityFeedforward.value * velocityToRawUnits(1.0.meters.perSecond) /
@@ -163,47 +164,50 @@ class LinearMechanismSensor(
 }
 
 class AngularMechanismSensor(
-  private val ratio: Double,
-  private val timescale: Timescale,
-  private val fullPowerThrottle: Double,
-  private val compensationVoltage: ElectricalPotential,
+  val ratio: Double,
+  val timescale: Timescale,
+  val fullPowerThrottle: Double,
+  val compensationVoltage: ElectricalPotential,
   val getRawVelocity: () -> Double,
   val getRawPosition: () -> Double
 ) : MechanismSensor<Radian> {
-  override val position: Value<Radian>
+  override inline val position: Value<Radian>
     get() = (getRawPosition() * ratio).rotations
 
-  override val velocity: Value<Velocity<Radian>>
+  override inline val velocity: Value<Velocity<Radian>>
     get() = (getRawVelocity() * ratio / timescale.velocity.inSeconds).rotations.perSecond
 
-  override fun positionToRawUnits(position: Value<Radian>): Double = position.inRotations / ratio
+  override inline fun positionToRawUnits(position: Value<Radian>): Double =
+    position.inRotations / ratio
 
-  override fun velocityToRawUnits(velocity: Value<Velocity<Radian>>): Double =
+  override inline fun velocityToRawUnits(velocity: Value<Velocity<Radian>>): Double =
     (velocity.inRotationsPerSecond * timescale.velocity.inSeconds) / ratio
 
-  override fun accelerationToRawUnits(acceleration: Value<Acceleration<Radian>>): Double =
+  override inline fun accelerationToRawUnits(acceleration: Value<Acceleration<Radian>>): Double =
     (
       acceleration.inRotationsPerSecondPerSecond *
         timescale.velocity.inSeconds *
         timescale.acceleration.inSeconds
       ) / ratio
 
-  override fun proportionalPositionGainToRawUnits(
+  override inline fun proportionalPositionGainToRawUnits(
     proportionalGain: ProportionalGain<Radian, Volt>
   ): Double {
     return (proportionalGain.inVoltsPerRadian / (positionToRawUnits(1.radians))) /
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun integralPositionGainToRawUnits(integralGain: IntegralGain<Radian, Volt>): Double {
+  override inline fun integralPositionGainToRawUnits(
+    integralGain: IntegralGain<Radian, Volt>
+  ): Double {
     return (
       integralGain.inVoltsPerRadianSeconds /
         (positionToRawUnits(1.radians) * timescale.velocity.inSeconds)
       ) /
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun derivativePositionGainToRawUnits(
+  override inline fun derivativePositionGainToRawUnits(
     derivativeGain: DerivativeGain<Radian, Volt>
   ): Double {
     return (
@@ -212,7 +216,7 @@ class AngularMechanismSensor(
       ) / compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun proportionalVelocityGainToRawUnits(
+  override inline fun proportionalVelocityGainToRawUnits(
     proportionalGain: ProportionalGain<Velocity<Radian>, Volt>
   ): Double {
     return (
@@ -221,7 +225,7 @@ class AngularMechanismSensor(
       ) / compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun integralVelocityGainToRawUnits(
+  override inline fun integralVelocityGainToRawUnits(
     integralGain: IntegralGain<Velocity<Radian>, Volt>
   ): Double {
     return (
@@ -231,7 +235,7 @@ class AngularMechanismSensor(
       compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun derivativeVelocityGainToRawUnits(
+  override inline fun derivativeVelocityGainToRawUnits(
     derivativeGain: DerivativeGain<Velocity<Radian>, Volt>
   ): Double {
     return (
@@ -240,7 +244,7 @@ class AngularMechanismSensor(
       ) / compensationVoltage.inVolts * fullPowerThrottle
   }
 
-  override fun velocityFeedforwardToRawUnits(
+  override inline fun velocityFeedforwardToRawUnits(
     velocityFeedforward: VelocityFeedforward<Radian, Volt>
   ): Double {
     return velocityFeedforward.value * velocityToRawUnits(1.0.radians.perSecond) /

diff --git a/src/main/kotlin/org/team4099/lib/units/Value.kt b/src/main/kotlin/org/team4099/lib/units/Value.kt
@@ -5,31 +5,33 @@ import kotlin.math.sign
 
 @JvmInline
 value class Value<T : UnitKey>(val value: Double) : Comparable<Value<T>> {
-  val absoluteValue: Value<T>
+  inline val absoluteValue: Value<T>
     get() = Value(value.absoluteValue)
 
-  val sign: Double
+  inline val sign: Double
     get() = sign(value)
 
-  operator fun plus(o: Value<T>): Value<T> = Value(value + o.value)
-  operator fun minus(o: Value<T>): Value<T> = Value(value - o.value)
+  inline operator fun plus(o: Value<T>): Value<T> = Value(value + o.value)
+  inline operator fun minus(o: Value<T>): Value<T> = Value(value - o.value)
 
-  operator fun times(k: Double): Value<T> = Value(value * k)
-  operator fun times(k: Number): Value<T> = this * k.toDouble()
-  operator fun <K : UnitKey> times(o: Value<Fraction<K, T>>): Value<K> = Value(value * o.value)
+  inline operator fun times(k: Double): Value<T> = Value(value * k)
+  inline operator fun times(k: Number): Value<T> = this * k.toDouble()
+  inline operator fun <K : UnitKey> times(o: Value<Fraction<K, T>>): Value<K> =
+    Value(value * o.value)
 
   @Suppress("INAPPLICABLE_JVM_NAME")
   @JvmName("times1")
-  operator fun <K : UnitKey> times(o: Value<K>): Value<Product<T, K>> = Value(value * o.value)
+  inline operator fun <K : UnitKey> times(o: Value<K>): Value<Product<T, K>> =
+    Value(value * o.value)
 
-  operator fun unaryMinus(): Value<T> = Value(-value)
+  inline operator fun unaryMinus(): Value<T> = Value(-value)
 
-  operator fun div(k: Double): Value<T> = Value(value / k)
-  operator fun div(k: Number): Value<T> = this / k.toDouble()
-  operator fun div(o: Value<T>): Double = value / o.value
-  operator fun <K : UnitKey> div(o: Value<K>): Value<Fraction<T, K>> = Value(value / o.value)
+  inline operator fun div(k: Double): Value<T> = Value(value / k)
+  inline operator fun div(k: Number): Value<T> = this / k.toDouble()
+  inline operator fun div(o: Value<T>): Double = value / o.value
+  inline operator fun <K : UnitKey> div(o: Value<K>): Value<Fraction<T, K>> = Value(value / o.value)
 
-  override operator fun compareTo(other: Value<T>): Int = value.compareTo(other.value)
+  override inline operator fun compareTo(other: Value<T>): Int = value.compareTo(other.value)
 }
 
 infix fun <T : UnitKey> ClosedRange<Value<T>>.step(step: Value<T>): Iterable<Value<T>> {