Package com.revrobotics.sim

Class MovingAverageFilterSim

java.lang.Object
com.revrobotics.sim.MovingAverageFilterSim
public class MovingAverageFilterSim extends Object
Simulate a moving average filter where samples are normally at some fixed rate that is different than the rate provided by the simulation.

A sum of sample deltas is stored until the cumulative sample delta is greater than or equal to the sample rate. Two cases are possible:

1) The cumulative delta between samples is *greater or equal* to the sample rate. In this case, take a simple linear interpolation between the sample before and after the sample time, and add this new sample to the moving average.

2) The cumulative delta between the samples is *less* than the sample rate. In this case, store the last value, and accumulate the delta time.

  • Constructor Summary

    Constructors
    Constructor
    Description
    MovingAverageFilterSim(int taps, double sampleRate)
    Create a MovingAverageFilterSim object.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    get()
    Get the current value of the filter
    void
    put(double value, double delta)
    Put a new measurement into the moving average filter.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • MovingAverageFilterSim

      public MovingAverageFilterSim(int taps, double sampleRate)
      Create a MovingAverageFilterSim object.
      Parameters:
      taps - number of samples in moving average filter
      sampleRate - sample rate of moving average filter to simulate

  • Method Details

    • put

      public void put(double value, double delta)
      Put a new measurement into the moving average filter. This will add any number of samples (or none) depending on the time delta provided.
      Parameters:
      value - new measurement value
      delta - time delta between last measurement value

    • get

      public double get()
      Get the current value of the filter
      Returns:
      filtered value