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Fix gain encapsulation in LinearDigitalFilter (#1105)

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Austin Shalit
2018-05-28 00:52:59 -04:00
committed by Peter Johnson
parent 5bf9720ccf
commit 7c9517ce5b
1 changed files with 4 additions and 2 deletions
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6
wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
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@@ -7,6 +7,8 @@
package edu.wpi.first.wpilibj.filters;
import java.util.Arrays;
import edu.wpi.first.wpilibj.CircularBuffer;
import edu.wpi.first.wpilibj.PIDSource;
@@ -65,8 +67,8 @@ public class LinearDigitalFilter extends Filter {
super(source);
m_inputs = new CircularBuffer(ffGains.length);
m_outputs = new CircularBuffer(fbGains.length);
m_inputGains = ffGains;
m_outputGains = fbGains;
m_inputGains = Arrays.copyOf(ffGains, ffGains.length);
m_outputGains = Arrays.copyOf(fbGains, fbGains.length);
}
/**