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Add usage reporting to LinearFilter (#1750)

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This commit is contained in:
Tyler Veness
2019-06-30 19:44:15 -07:00
committed by Peter Johnson
parent 852d1b9cad
commit c705953d77
2 changed files with 15 additions and 1 deletions
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8
wpilibc/src/main/native/cpp/LinearFilter.cpp
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@@ -10,6 +10,8 @@
#include <cassert>
#include <cmath>
#include <hal/HAL.h>
using namespace frc;
LinearFilter::LinearFilter(wpi::ArrayRef<double> ffGains,
@@ -17,7 +19,11 @@ LinearFilter::LinearFilter(wpi::ArrayRef<double> ffGains,
: m_inputs(ffGains.size()),
m_outputs(fbGains.size()),
m_inputGains(ffGains),
m_outputGains(fbGains) {}
m_outputGains(fbGains) {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
}
LinearFilter LinearFilter::SinglePoleIIR(double timeConstant, double period) {
double gain = std::exp(-period / timeConstant);