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Clean up LinearDigitalFilter class (#782)

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* Renamed LinearDigitalFilter to LinearFilter
* Filter base class removed since it wasn't useful
* C++: std::shared_ptr<> replaced with double parameter
This commit is contained in:
Tyler Veness
2019-06-28 13:35:57 -07:00
committed by Peter Johnson
parent 311e2de4c1
commit 30e936837c
22 changed files with 771 additions and 960 deletions
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114
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,16 +18,12 @@ import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.AnalogOutput;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.FilterNoiseFixture;
import edu.wpi.first.wpilibj.fixtures.FilterOutputFixture;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
@@ -65,17 +61,6 @@ public final class TestBench {
public static final int DIOCrossConnectA2 = 7;
public static final int DIOCrossConnectA1 = 6;
// Filter constants
public static final double kStdDev = 10.0;
public static final double kFilterStep = 0.005;
public static final double kFilterTime = 2.0;
public static final double kSinglePoleIIRTimeConstant = 0.015915;
public static final double kSinglePoleIIRExpectedOutput = -3.2172003;
public static final double kHighPassTimeConstant = 0.006631;
public static final double kHighPassExpectedOutput = 10.074717;
public static final int kMovAvgTaps = 6;
public static final double kMovAvgExpectedOutput = -10.191644;
/**
* The Singleton instance of the Test Bench.
*/
@@ -343,103 +328,6 @@ public final class TestBench {
return encoderPortPairs;
}
/**
* Constructs a new set of objects representing a single-pole IIR filter with a noisy data source.
*
* @return a single-pole IIR filter with a noisy data source
*/
public FilterNoiseFixture<LinearDigitalFilter> getSinglePoleIIRNoiseFixture() {
return new FilterNoiseFixture<LinearDigitalFilter>() {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.singlePoleIIR(source,
kSinglePoleIIRTimeConstant,
kFilterStep);
}
};
}
/**
* Constructs a new set of objects representing a moving average filter with a noisy data source
* using a linear digital filter.
*
* @return a moving average filter with a noisy data source
*/
public FilterNoiseFixture<LinearDigitalFilter> getMovAvgNoiseFixture() {
return new FilterNoiseFixture<LinearDigitalFilter>() {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.movingAverage(source, kMovAvgTaps);
}
};
}
/**
* Constructs a new set of objects representing a single-pole IIR filter with a repeatable data
* source.
*
* @return a single-pole IIR filter with a repeatable data source
*/
public FilterOutputFixture<LinearDigitalFilter> getSinglePoleIIROutputFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(kSinglePoleIIRExpectedOutput) {
@Override
protected LinearDigitalFilter giveFilter() {
m_data = new DataWrapper(getData);
return LinearDigitalFilter.singlePoleIIR(m_data,
kSinglePoleIIRTimeConstant,
kFilterStep);
}
};
}
/**
* Constructs a new set of objects representing a high-pass filter with a repeatable data source.
*
* @return a high-pass filter with a repeatable data source
*/
public FilterOutputFixture<LinearDigitalFilter> getHighPassOutputFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(kHighPassExpectedOutput) {
@Override
protected LinearDigitalFilter giveFilter() {
m_data = new DataWrapper(getData);
return LinearDigitalFilter.highPass(m_data, kHighPassTimeConstant,
kFilterStep);
}
};
}
/**
* Constructs a new set of objects representing a moving average filter with a repeatable data
* source using a linear digital filter.
*
* @return a moving average filter with a repeatable data source
*/
public FilterOutputFixture<LinearDigitalFilter> getMovAvgOutputFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(kMovAvgExpectedOutput) {
@Override
protected LinearDigitalFilter giveFilter() {
m_data = new DataWrapper(getData);
return LinearDigitalFilter.movingAverage(m_data, kMovAvgTaps);
}
};
}
/**
* Constructs a new set of objects representing a moving average filter with a repeatable data
* source using a linear digital filter.
*
* @return a moving average filter with a repeatable data source
*/
public FilterOutputFixture<LinearDigitalFilter> getPulseFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(0.0) {
@Override
protected LinearDigitalFilter giveFilter() {
m_data = new DataWrapper(getPulseData);
return LinearDigitalFilter.movingAverage(m_data, kMovAvgTaps);
}
};
}
/**
* Gets the singleton of the TestBench. If the TestBench is not already allocated in constructs an
* new instance of it. Otherwise it returns the existing instance.