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[wpimath] Add Debouncer type and time setters (#7839)

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Signed-off-by: swurl <swurl@swurl.xyz>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
crueter
2025-03-03 19:21:38 -05:00
committed by GitHub
parent 93bf6c70ba
commit 0ad595c33c
4 changed files with 107 additions and 2 deletions
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42
wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
View File

@@ -21,8 +21,8 @@ public class Debouncer {
kBoth
}
private final double m_debounceTimeSeconds;
private final DebounceType m_debounceType;
private double m_debounceTimeSeconds;
private DebounceType m_debounceType;
private boolean m_baseline;
private double m_prevTimeSeconds;
@@ -86,4 +86,42 @@ public class Debouncer {
return m_baseline;
}
}
/**
* Sets the time to debounce.
*
* @param time The number of seconds the value must change from baseline for the filtered value to
* change.
*/
public void setDebounceTime(double time) {
m_debounceTimeSeconds = time;
}
/**
* Gets the time to debounce.
*
* @return The number of seconds the value must change from baseline for the filtered value to
* change.
*/
public double getDebounceTime() {
return m_debounceTimeSeconds;
}
/**
* Sets the debounce type.
*
* @param type Which type of state change the debouncing will be performed on.
*/
public void setDebounceType(DebounceType type) {
m_debounceType = type;
}
/**
* Gets the debounce type.
*
* @return Which type of state change the debouncing will be performed on.
*/
public DebounceType getDebounceType() {
return m_debounceType;
}
}

32
wpimath/src/main/native/include/frc/filter/Debouncer.h
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@@ -48,6 +48,38 @@ class WPILIB_DLLEXPORT Debouncer {
*/
bool Calculate(bool input);
/**
* Sets the time to debounce.
*
* @param time The number of seconds the value must change from baseline
* for the filtered value to change.
*/
constexpr void SetDebounceTime(units::second_t time) {
m_debounceTime = time;
}
/**
* Gets the time to debounce.
*
* @return The number of seconds the value must change from baseline
* for the filtered value to change.
*/
constexpr units::second_t GetDebounceTime() const { return m_debounceTime; }
/**
* Set the debounce type.
*
* @param type Which type of state change the debouncing will be performed on.
*/
constexpr void SetDebounceType(DebounceType type) { m_debounceType = type; }
/**
* Get the debounce type.
*
* @return Which type of state change the debouncing will be performed on.
*/
constexpr DebounceType GetDebounceType() const { return m_debounceType; }
private:
units::second_t m_debounceTime;
bool m_baseline;