Package frc.spectrumLib.util

Class CachedDouble

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.spectrumLib.util.CachedDouble

All Implemented Interfaces:

Sendable, Subsystem, DoubleSupplier

public class CachedDouble
extends SubsystemBase
implements DoubleSupplier

Caches a DoubleSupplier value so it is computed at most once per scheduler iteration. Note: Subsystem periodic() is typically called after triggers are polled each iteration.

Constructor Summary

Constructors

Constructor	Description
CachedDouble(DoubleSupplier source)	Creates a CachedDouble wrapping the given supplier.

Method Summary

Modifier and Type	Method	Description
double	getAsDouble()	Returns the cached value of the source supplier, querying the supplier at most once per scheduler iteration.
void	periodic()	Called by the scheduler each iteration to invalidate the cached value so the next getAsDouble() call re-queries the source.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

CachedDouble

public CachedDouble(DoubleSupplier source)

Creates a CachedDouble wrapping the given supplier.

Parameters:

source - the underlying supplier whose value is cached each scheduler iteration

Method Details

periodic

public void periodic()

Called by the scheduler each iteration to invalidate the cached value so the next getAsDouble() call re-queries the source.

Specified by:

periodic in interface Subsystem

getAsDouble

public double getAsDouble()

Returns the cached value of the source supplier, querying the supplier at most once per scheduler iteration.

Specified by:

getAsDouble in interface DoubleSupplier

Returns:

the supplier's value for the current iteration