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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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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;