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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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6
wpimath/src/main/native/include/frc/filter/Debouncer.h
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@@ -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.