Package edu.wpi.first.math.filter

Class EdgeCounterFilter

java.lang.Object
edu.wpi.first.math.filter.EdgeCounterFilter
public class EdgeCounterFilter extends Object
A rising edge counter for boolean streams. Requires that the boolean change value to true for a specified number of times within a specified time window after the first rising edge before the filtered value changes.

The filter activates when the input has risen (transitioned from false to true) the required number of times within the time window. Once activated, the output remains true as long as the input is true. The edge count resets when the time window expires or when the input goes false after activation.

Input must be stable; consider using a Debouncer before this filter to avoid counting noise as multiple edges.

  • Constructor Details

    • EdgeCounterFilter

      public EdgeCounterFilter(int requiredEdges, double windowTime)
      Creates a new EdgeCounterFilter.
      Parameters:
      requiredEdges - The number of rising edges required before the output goes true.
      windowTime - The maximum number of seconds in which all required edges must occur after the first rising edge.

  • Method Details

    • calculate

      public boolean calculate(boolean input)
      Applies the edge counter filter to the input stream.
      Parameters:
      input - The current value of the input stream.
      Returns:
      True if the required number of edges have occurred within the time window and the input is currently true; false otherwise.

    • setWindowTime

      public void setWindowTime(double windowTime)
      Sets the time window duration.
      Parameters:
      windowTime - The maximum window of seconds in which all required edges must occur after the first rising edge.

    • getWindowTime

      public double getWindowTime()
      Gets the time window duration.
      Returns:
      The maximum window of seconds in which all required edges must occur after the first rising edge.

    • setRequiredEdges

      public void setRequiredEdges(int requiredEdges)
      Sets the required number of edges.
      Parameters:
      requiredEdges - The number of rising edges required before the output goes true.

    • getRequiredEdges

      public int getRequiredEdges()
      Gets the required number of edges.
      Returns:
      The number of rising edges required before the output goes true.