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 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