Mapper.java

package org.myrobotlab.math;

import java.io.Serializable;

import org.myrobotlab.logging.LoggerFactory;
import org.myrobotlab.service.Servo;
import org.slf4j.Logger;

public final class Mapper implements Serializable {

  private static final long serialVersionUID = 1L;
  public final static Logger log = LoggerFactory.getLogger(Servo.class);

  // input range
  Double minX;
  Double maxX;

  // output range
  Double minY;
  Double maxY;

  // clipping
  Double minOutput;
  Double maxOutput;

  boolean inverted = false;

  public Mapper(double minX, double maxX, double minY, double maxY) {
    this.minX = minX;
    this.maxX = maxX;
    this.minY = minY;
    this.maxY = maxY;

    if (minY < maxY) {
      this.minOutput = minY;
      this.maxOutput = maxY;
    } else {
      this.minOutput = maxY;
      this.maxOutput = minY;
    }
  }

  final public double calc(double in) {
    double c = minY + ((in - minX) * (maxY - minY)) / (maxX - minX);
    if (c < minOutput) {
      log.warn("clipping {} to {}", c, minOutput);
      return minOutput;
    }
    if (c > maxOutput) {
      log.warn("clipping {} to {}", c, maxOutput);
      return maxOutput;
    }
    return c;
  }

  final public int calcInt(int in) {
    return (int) calc(in);
  }

  final public int calcInt(double in) {
    return (int) calc(in);
  }

  public Double getMaxX() {
    return maxX;
  }

  public Double getMaxY() {
    return maxY;
  }

  public Double getMinX() {
    return minX;
  }

  public Double getMinY() {
    return minY;
  }

  public boolean isInverted() {
    return inverted;
  }

  public void setInverted(boolean invert) {
    if (invert && !inverted) {
      double t = minX;
      minX = maxX;
      maxX = t;
      inverted = true;
    } else {
      inverted = false;
    }
  }

  public void setMax(double max) {
    maxOutput = max;
    //maxX = max;
  }

  public void setMin(double min) {
    minOutput = min;
  }

  public double getMinOutput() {
    return minOutput;
  }

  public double getMaxOutput() {
    return maxOutput;
  }

}