DerivativeTimeFilter.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <cstdint>
#include <wpi/system/Timer.hpp>
#include <wpi/units/time.hpp>
 
namespace yams::math {
 
class DerivativeTimeFilter {
 public:
  DerivativeTimeFilter(double initial, wpi::units::second_t debouncerPeriod);
 
  explicit DerivativeTimeFilter(wpi::units::second_t debouncerPeriod);
 
  double Derivative(double current, wpi::units::second_t dt);
 
  double Derivative(double current);
 
 private:
  double m_last{0.0};
  uint64_t m_lastFpgaTime_us{0};
  double m_value{0.0};
  wpi::Timer m_debouncer;
  wpi::units::second_t m_debouncePeriod{0.02};
};
 
}  // namespace yams::math