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Add SlewRateLimiter class (#2192)

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This is extremely useful for implementing various "ramping" functions
(such as voltage ramps, setpoint ramps, etc). Usage is straightforward;
it behaves like all of our other filter classes. C++ version is unit-safe.
This commit is contained in:
Oblarg
2019-12-29 14:36:28 -05:00
committed by Peter Johnson
parent a12bb447e4
commit c7a1dfc0bc
4 changed files with 197 additions and 0 deletions
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27
wpilibc/src/test/native/cpp/SlewRateLimiterTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 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. */
/*----------------------------------------------------------------------------*/
#include <thread>
#include "frc/SlewRateLimiter.h"
#include "gtest/gtest.h"
TEST(SlewRateLimiterTest, SlewRateLimitTest) {
frc::SlewRateLimiter<units::meters> limiter(1_mps);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
EXPECT_TRUE(limiter.Calculate(2_m) < 2_m);
}
TEST(SlewRateLimiterTest, SlewRateNoLimitTest) {
frc::SlewRateLimiter<units::meters> limiter(1_mps);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
}