From d1ad95f6aa4ef958fb1e3af31d094de398a0f2c2 Mon Sep 17 00:00:00 2001 From: iefomit Date: Mon, 16 Feb 2026 13:28:57 -0800 Subject: [PATCH] make code build --- .../java/frc/robot/util/ChineseRemainderTheorem.java | 12 ++++++------ .../java/frc/robot/util/Vision/TurretVision.java | 1 + ...rumTest.java => ChineseRemainderTheoremTest.java} | 8 ++------ 3 files changed, 9 insertions(+), 12 deletions(-) rename src/test/java/frc/robot/util/{ChineseRemainderTheorumTest.java => ChineseRemainderTheoremTest.java} (60%) diff --git a/src/main/java/frc/robot/util/ChineseRemainderTheorem.java b/src/main/java/frc/robot/util/ChineseRemainderTheorem.java index 571beb7..682f7e0 100644 --- a/src/main/java/frc/robot/util/ChineseRemainderTheorem.java +++ b/src/main/java/frc/robot/util/ChineseRemainderTheorem.java @@ -2,12 +2,13 @@ package frc.robot.util; public final class ChineseRemainderTheorem { - private ChineseRemainderTheorem() {} + private ChineseRemainderTheorem() { + } /** * Computes x such that: - * x ≡ a (mod n1) - * x ≡ b (mod n2) + * x ≡ a (mod n1) + * x ≡ b (mod n2) * * n1 and n2 MUST be coprime. * @@ -23,9 +24,8 @@ public final class ChineseRemainderTheorem { int invN1modN2 = modInverse(n1, n2); int invN2modN1 = modInverse(n2, n1); - int result = - (a * n2 * invN2modN1 + - b * n1 * invN1modN2) % N; + int result = (a * n2 * invN2modN1 + + b * n1 * invN1modN2) % N; return (result + N) % N; } diff --git a/src/main/java/frc/robot/util/Vision/TurretVision.java b/src/main/java/frc/robot/util/Vision/TurretVision.java index 09f69ee..a432c12 100644 --- a/src/main/java/frc/robot/util/Vision/TurretVision.java +++ b/src/main/java/frc/robot/util/Vision/TurretVision.java @@ -8,6 +8,7 @@ import org.photonvision.targeting.PhotonTrackedTarget; import edu.wpi.first.math.util.Units; +@SuppressWarnings("removal") public class TurretVision { private final PhotonCamera camera; diff --git a/src/test/java/frc/robot/util/ChineseRemainderTheorumTest.java b/src/test/java/frc/robot/util/ChineseRemainderTheoremTest.java similarity index 60% rename from src/test/java/frc/robot/util/ChineseRemainderTheorumTest.java rename to src/test/java/frc/robot/util/ChineseRemainderTheoremTest.java index 932f5f5..731f63c 100644 --- a/src/test/java/frc/robot/util/ChineseRemainderTheorumTest.java +++ b/src/test/java/frc/robot/util/ChineseRemainderTheoremTest.java @@ -7,9 +7,7 @@ import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; -import frc.robot.util.ChineseRemainderTheorum.Encoder; - -public class ChineseRemainderTheorumTest { +public class ChineseRemainderTheoremTest { @BeforeEach public void prepare() { @@ -23,9 +21,7 @@ public class ChineseRemainderTheorumTest { public void test() { double tolerance = 0.01; - Encoder a = new Encoder(5000 % 123, 123); - Encoder b = new Encoder(5000 % 321, 321); - double val = ChineseRemainderTheorum.compute(a, b, tolerance); + int val = ChineseRemainderTheorem.solve(5000 % 124, 124, 5000 % 127, 127); assertEquals(5000, val, tolerance); } } -- 2.39.5