From 4a3586ad885bb3fa924dce40d0d98a19c617d348 Mon Sep 17 00:00:00 2001
From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com>
Date: Fri, 5 Jan 2024 14:45:15 -0700
Subject: [PATCH] port from 2023

---
 src/main/java/frc4388/utility/AprilTag.java   | 13 +++++++++++
 .../java/frc4388/utility/DeferredBlock.java   | 23 +++++++++++++++++++
 .../java/frc4388/utility/UtilityStructs.java  | 12 ++++++++++
 3 files changed, 48 insertions(+)
 create mode 100644 src/main/java/frc4388/utility/AprilTag.java
 create mode 100644 src/main/java/frc4388/utility/DeferredBlock.java
 create mode 100644 src/main/java/frc4388/utility/UtilityStructs.java

diff --git a/src/main/java/frc4388/utility/AprilTag.java b/src/main/java/frc4388/utility/AprilTag.java
new file mode 100644
index 0000000..c2ad269
--- /dev/null
+++ b/src/main/java/frc4388/utility/AprilTag.java
@@ -0,0 +1,13 @@
+package frc4388.utility;
+
+// This is a seperate class in case I want to encode rotation or other
+// information about the tag
+public class AprilTag {
+    public final double x, y, z;
+
+    public AprilTag(double _x, double _y, double _z) {
+        x = _x;
+        y = _y;
+        z = _z;
+    }
+}
diff --git a/src/main/java/frc4388/utility/DeferredBlock.java b/src/main/java/frc4388/utility/DeferredBlock.java
new file mode 100644
index 0000000..20d3c57
--- /dev/null
+++ b/src/main/java/frc4388/utility/DeferredBlock.java
@@ -0,0 +1,23 @@
+package frc4388.utility;
+
+import java.util.ArrayList;
+
+public class DeferredBlock {
+    private static ArrayList<Runnable> m_blocks = new ArrayList<>();
+    private static boolean             m_hasRun = false;
+
+    public DeferredBlock(Runnable block) {
+        m_blocks.add(block);
+    }
+
+    public static void execute() {
+        if (m_hasRun) return;
+
+        for (Runnable block : m_blocks) {
+            block.run();
+        }
+
+        m_blocks.clear(); // for garbage collection
+        m_hasRun = true;
+    }
+}
diff --git a/src/main/java/frc4388/utility/UtilityStructs.java b/src/main/java/frc4388/utility/UtilityStructs.java
new file mode 100644
index 0000000..e8b10cc
--- /dev/null
+++ b/src/main/java/frc4388/utility/UtilityStructs.java
@@ -0,0 +1,12 @@
+package frc4388.utility;
+
+public class UtilityStructs {
+    public static class TimedOutput {
+        public double leftX  = 0.0;
+        public double leftY  = 0.0;
+        public double rightX = 0.0;
+        public double rightY = 0.0;
+    
+        public long timedOffset = 0;
+    }
+}