MovingAverageFilterSim.h

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#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_MOVINGAVERAGEFILTERSIM_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_MOVINGAVERAGEFILTERSIM_H_
 
#include <utility>
 
#include <frc/filter/LinearFilter.h>
 
namespace rev::spark {
 
class MovingAverageFilterSim {
public:
    MovingAverageFilterSim(int taps, double sampleRate);
 
    void put(double value, double delta);
    double get() const;
 
private:
    double lerp(const std::pair<double, double>& p1,
                const std::pair<double, double>& p2, double x) const;
 
    frc::LinearFilter<double> m_filter;
    double m_value = 0.0;
    double m_sampleRate;
    std::pair<double, double> m_state = {0.0, 0.0};
};
 
}  // namespace rev::spark
 
#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_MOVINGAVERAGEFILTERSIM_H_