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[wpimath] Fix Debouncer type-changing behavior (#7870)

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Closes #7867

Properly resets the baseline upon switching the debounce type, and adds
a test for such.

Signed-off-by: swurl <swurl@swurl.xyz>
This commit is contained in:
crueter
2025-04-26 01:05:31 -04:00
committed by GitHub
parent 3960045663
commit 0695a4db89
5 changed files with 12 additions and 15 deletions
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8
wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
View File

@@ -40,11 +40,7 @@ public class Debouncer {
resetTimer();
m_baseline =
switch (m_debounceType) {
case kBoth, kRising -> false;
case kFalling -> true;
};
m_baseline = m_debounceType == DebounceType.kFalling;
}
/**
@@ -114,6 +110,8 @@ public class Debouncer {
*/
public void setDebounceType(DebounceType type) {
m_debounceType = type;
m_baseline = m_debounceType == DebounceType.kFalling;
}
/**

10
wpimath/src/main/native/cpp/filter/Debouncer.cpp
View File

@@ -10,15 +10,7 @@ using namespace frc;
Debouncer::Debouncer(units::second_t debounceTime, DebounceType type)
: m_debounceTime(debounceTime), m_debounceType(type) {
switch (type) {
case DebounceType::kBoth: // fall-through
case DebounceType::kRising:
m_baseline = false;
break;
case DebounceType::kFalling:
m_baseline = true;
break;
}
m_baseline = m_debounceType == DebounceType::kFalling;
ResetTimer();
}

6
wpimath/src/main/native/include/frc/filter/Debouncer.h
View File

@@ -71,7 +71,11 @@ class WPILIB_DLLEXPORT Debouncer {
*
* @param type Which type of state change the debouncing will be performed on.
*/
constexpr void SetDebounceType(DebounceType type) { m_debounceType = type; }
constexpr void SetDebounceType(DebounceType type) {
m_debounceType = type;
m_baseline = m_debounceType == DebounceType::kFalling;
}
/**
* Get the debounce type.

1
wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
View File

@@ -84,5 +84,6 @@ class DebouncerTest {
debouncer.setDebounceType(Debouncer.DebounceType.kFalling);
assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kFalling);
assertTrue(debouncer.calculate(false));
}
}

2
wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
View File

@@ -72,4 +72,6 @@ TEST_F(DebouncerTest, DebounceParams) {
EXPECT_TRUE(debouncer.GetDebounceType() ==
frc::Debouncer::DebounceType::kFalling);
EXPECT_TRUE(debouncer.Calculate(false));
}