yams::math::DerivativeTimeFilter Class Reference

#include <DerivativeTimeFilter.hpp>

Public Member Functions
	DerivativeTimeFilter (double initial, wpi::units::second_t debouncerPeriod)
	DerivativeTimeFilter (wpi::units::second_t debouncerPeriod)
double	Derivative (double current, wpi::units::second_t dt)
double	Derivative (double current)

Detailed Description

Computes the time-derivative of a scalar value, debounced to avoid updating too frequently.

The derivative is computed over the elapsed FPGA time between calls and is gated by a configurable debounce period so high-frequency callers still receive stable readings.

Constructor & Destructor Documentation

DerivativeTimeFilter() [1/2]

yams::math::DerivativeTimeFilter::DerivativeTimeFilter	(	double	initial,
		wpi::units::second_t	debouncerPeriod
	)

Create a derivative filter with a known initial value.

The initial value is timestamped at the time of construction.

Parameters

initial	Initial value to differentiate from.
debouncerPeriod	Minimum period between derivative updates.

DerivativeTimeFilter() [2/2]

yams::math::DerivativeTimeFilter::DerivativeTimeFilter ( wpi::units::second_t  debouncerPeriod )

explicit

Create a derivative filter with no initial value (starts from 0).

Parameters

debouncerPeriod

Minimum period between derivative updates.

Member Function Documentation

Derivative() [1/2]

double yams::math::DerivativeTimeFilter::Derivative

(

double

current

)

Get the derivative of the current value over the time elapsed since the last call.

If the debounce period has not elapsed, returns the cached result.

Parameters

current

Current value.

Returns

Derivative of current from the previous value over the elapsed FPGA time.

Derivative() [2/2]

double yams::math::DerivativeTimeFilter::Derivative	(	double	current,
		wpi::units::second_t	dt
	)

Get the derivative of the current value over a specified delta time.

If the debounce period has not elapsed, returns the cached result.

Parameters

current	Current value.
dt	Delta time to use as the denominator.

Returns

Derivative of current from the previous value divided by dt.

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The documentation for this class was generated from the following file:

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/math/DerivativeTimeFilter.hpp