2025 carrot chaos

controls/ClosedLoopConstantsClasses.kt

@@ -33,4 +33,5 @@ fun SimpleMotorFeedForwardConstants.toFeedForward() : SimpleMotorFeedforward {
  */
 fun PIDConstants.toPID() : Controller.PID {
     return Controller.PID(this.P, this.I, this.D)
-}
+}
+val PIDConstants.PathPlannerPID : com.pathplanner.lib.config.PIDConstants get() = com.pathplanner.lib.config.PIDConstants(this.P, this.I, this.D)

controls/Controller.kt

@@ -8,6 +8,7 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward
  * A closed-loop controller controlling a one-dimensional output,
  * usually a motor.
  */
+@Deprecated("Controller is deprecated, as it is it is just a wrapper for PID controller that provides no functionality")
 interface Controller {
     var setpoint: Double
 

controls/TurningPID.kt

@@ -12,6 +12,7 @@ import kotlin.math.sign
  * @author Anthony, Mike
  */
 @Suppress("MemberVisibilityCanBePrivate")
+@Deprecated("TurningPID is deprecated, use the default WPI PID instead")
 class TurningPID(var kP: Double, var kD: Double) {
     var setPoint = 0.0
     var timePrevious = Timer.getFPGATimestamp()

misc/Signals.kt

@@ -0,0 +1,34 @@
+package frc.robot.beaverlib.misc
+
+/**
+ * A MutableMap used specifically for managing Lambdas
+ * Specified Type is used as the input for argument for listener Lambdas
+ */
+data class BiSignal<Type, Type2>(
+    val listeners : MutableMap<String, (Type, Type2) -> Unit> = mutableMapOf()
+) {
+    /**
+     * Adds a listener with the given name. The function will be run whenever the parent object calls the update function
+     * @param name String to denote the name of the listener, used to remove specific listeners later on
+     * @param function The function to run when the listener updates */
+    fun add(name: String, function: (Type, Type2) -> Unit){
+        listeners.put(name, function)
+    }
+
+    /**
+     * Removes a listener with the given name
+     * @param name The name of the listener to remove */
+    fun remove(name: String){
+        listeners.remove(name)
+    }
+
+    /**
+     * Runs all active listeners with the given input
+     * @param input The input for each of the listening functions
+     * */
+    fun update(input: Type, input2: Type2) {
+        listeners.forEach { (_, listenerFunction) ->
+            listenerFunction(input, input2)  // Pass source to the listener
+        }
+    }
+}