Debouncer.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/SymbolExports.h>
#include <wpi/timestamp.h>
 
#include "units/time.h"
 
namespace frc {
/**
 * A simple debounce filter for boolean streams.  Requires that the boolean
 * change value from baseline for a specified period of time before the filtered
 * value changes.
 */
class WPILIB_DLLEXPORT Debouncer {
 public:
  enum DebounceType { kRising, kFalling, kBoth };
 
  /**
   * Creates a new Debouncer.
   *
   * @param debounceTime The number of seconds the value must change from
   *                     baseline for the filtered value to change.
   * @param type         Which type of state change the debouncing will be
   *                     performed on.
   */
  explicit Debouncer(units::second_t debounceTime,
                     DebounceType type = DebounceType::kRising);
 
  /**
   * Applies the debouncer to the input stream.
   *
   * @param input The current value of the input stream.
   * @return The debounced value of the input stream.
   */
  bool Calculate(bool input);
 
 private:
  units::second_t m_debounceTime;
  bool m_baseline;
  DebounceType m_debounceType;
 
  units::second_t m_prevTime;
 
  void ResetTimer();
 
  bool HasElapsed() const;
};
}  // namespace frc