C# Class CSharpRoboticsLib.Utility.Util

Provides various mathematical and logical utility functions

Public Methods

Method	Description
AccurateWaitMilliseconds ( double time ) : void	Waits for a specified time more accurately than Thread.Sleep()
AccurateWaitSeconds ( double time ) : void	Waits for a specified time more accurately than Thread.Sleep()
Limit ( double value, double low, double high ) : double	Limits the value to a low and high threshold
ToDegrees ( double radians ) : double	Converts radians to degrees
ToRadians ( double degrees ) : double	Converts degrees to radians
WrapDegrees ( double degrees ) : double	Wraps degrees around -180 to 180
WrapError ( double value, double setpoint, double min, double max ) : double	Wraps an error value around a maximum and minimum input.
WrapRadians ( double radians ) : double	Wraos radians around -PI and PI

Waits for a specified time more accurately than Thread.Sleep()

public static AccurateWaitMilliseconds ( double time ) : void
time	double	Time in milliseconds to wait
return	void

Waits for a specified time more accurately than Thread.Sleep()

public static AccurateWaitSeconds ( double time ) : void
time	double	Time in seconds to wait
return	void

Limits the value to a low and high threshold

public static Limit ( double value, double low, double high ) : double
value	double	value to be limited
low	double	lower limit
high	double	upper limit
return	double

Converts radians to degrees

public static ToDegrees ( double radians ) : double
radians	double	angle in radians
return	double

Converts degrees to radians

public static ToRadians ( double degrees ) : double
degrees	double	angle in degrees
return	double

Wraps degrees around -180 to 180

public static WrapDegrees ( double degrees ) : double
degrees	double
return	double

Wraps an error value around a maximum and minimum input.

public static WrapError ( double value, double setpoint, double min, double max ) : double
value	double
setpoint	double
min	double
max	double
return	double

Wraos radians around -PI and PI

public static WrapRadians ( double radians ) : double
radians	double
return	double