68 lines
1.7 KiB
Go
68 lines
1.7 KiB
Go
package gobot
|
|
|
|
import (
|
|
"crypto/rand"
|
|
"fmt"
|
|
"math"
|
|
"math/big"
|
|
"time"
|
|
)
|
|
|
|
// Every triggers f every t time.Duration until the end of days, or when a Stop()
|
|
// is called on the Ticker that is returned by the Every function.
|
|
// It does not wait for the previous execution of f to finish before
|
|
// it fires the next f.
|
|
func Every(t time.Duration, f func()) *time.Ticker {
|
|
ticker := time.NewTicker(t)
|
|
|
|
go func() {
|
|
for {
|
|
<-ticker.C
|
|
f()
|
|
}
|
|
}()
|
|
|
|
return ticker
|
|
}
|
|
|
|
// After triggers f after t duration.
|
|
func After(t time.Duration, f func()) {
|
|
time.AfterFunc(t, f)
|
|
}
|
|
|
|
// Rand returns a positive random int up to max
|
|
func Rand(max int) int {
|
|
i, _ := rand.Int(rand.Reader, big.NewInt(int64(max)))
|
|
return int(i.Int64())
|
|
}
|
|
|
|
// FromScale returns a converted input from min, max to 0.0...1.0.
|
|
func FromScale(input, min, max float64) float64 {
|
|
return (input - math.Min(min, max)) / (math.Max(min, max) - math.Min(min, max))
|
|
}
|
|
|
|
// ToScale returns a converted input from 0...1 to min...max scale.
|
|
// If input is less than min then ToScale returns min.
|
|
// If input is greater than max then ToScale returns max
|
|
func ToScale(input, min, max float64) float64 {
|
|
i := input*(math.Max(min, max)-math.Min(min, max)) + math.Min(min, max)
|
|
if i < math.Min(min, max) {
|
|
return math.Min(min, max)
|
|
} else if i > math.Max(min, max) {
|
|
return math.Max(min, max)
|
|
} else {
|
|
return i
|
|
}
|
|
}
|
|
|
|
// Rescale performs a direct linear rescaling of a number from one scale to another.
|
|
func Rescale(input, fromMin, fromMax, toMin, toMax float64) float64 {
|
|
return (input-fromMin)*(toMax-toMin)/(fromMax-fromMin) + toMin
|
|
}
|
|
|
|
// DefaultName returns a sensible random default name
|
|
// for a robot, adaptor or driver
|
|
func DefaultName(name string) string {
|
|
return fmt.Sprintf("%s-%X", name, Rand(int(^uint(0)>>1)))
|
|
}
|