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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
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@@ -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;
}
/**