The CCRE: A comprehensive award-winning robot code framework

[Cel Skeggs]

I've been working on some prototypes for the 3.0.0 release. This release includes a lot of improvements to the Mixing system, namely by getting rid of the Mixing, FloatMixing, BooleanMixing, and EventMixing classes, and using Java 8's new default interfaces to implement the same functionality on the objects themselves.

As an example of how much this can help:

Mixing.select(calibrating, FloatMixing.multiplication.of(FloatMixing.multiplication.of(p, (FloatInput) dconstant), (FloatInput) period), FloatMixing.always(0));

becomes

calibrating.toFloat(p.multipliedBy(dconstant).multipliedBy(period), 0);

which is much easier to understand and has a lot less boilerplate!

Also, the Input/InputPoll distinction is going away, which means (for example) that code will no longer be scattered with FloatMixing.createDispatch and BooleanMixing.createDispatch everywhere!

To replace the previous easy of use of InputPolls that is now going away, code like:

BooleanMixing.createDispatch(new BooleanInputPoll() {
    public boolean get() {
        return /* some expression */;
    }
}, Igneous.globalPeriodic)

is now written as

new DerivedBooleanInput(/* dependent inputs */) {
    protected boolean apply() {
        return /* same expression as above */;
    }
}

This is slightly more complicated in that you have to specify when the value could update, but it ultimately will lead to better, easier-to-understand code and less overhead.