Package swervelib.math

Class IMULinearMovingAverageFilter

java.lang.Object
swervelib.math.IMULinearMovingAverageFilter
public class IMULinearMovingAverageFilter extends Object
A linear filter that does not calculate() each time a value is added to the DoubleCircularBuffer.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private final double
    m_inputGain
    Gain on each reading.
    private final edu.wpi.first.util.DoubleCircularBuffer
    m_inputs
    Circular buffer storing the current IMU readings

  • Constructor Summary

    Constructors
    Constructor
    Description
    IMULinearMovingAverageFilter(int bufferLength)
    Construct a linear moving average fitler

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addValue(double input)
    Add a value to the DoubleCircularBuffer
    double
    calculate()
    Calculate the average of the samples in the buffer

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • m_inputs

      private final edu.wpi.first.util.DoubleCircularBuffer m_inputs
      Circular buffer storing the current IMU readings

    • m_inputGain

      private final double m_inputGain
      Gain on each reading.

  • Constructor Details

    • IMULinearMovingAverageFilter

      public IMULinearMovingAverageFilter(int bufferLength)
      Construct a linear moving average fitler
      Parameters:
      bufferLength - The number of values to average across

  • Method Details

    • addValue

      public void addValue(double input)
      Add a value to the DoubleCircularBuffer
      Parameters:
      input - Value to add

    • calculate

      public double calculate()
      Calculate the average of the samples in the buffer
      Returns:
      The average of the values in the buffer