core/com.asiankoala.koawalib.control.filter

Package com.asiankoala.koawalib.control.filter

Types

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.

ExponentialMovingAverageFilter

class ExponentialMovingAverageFilter(n: Int, alpha: Double = 2.0 / (n + 1.0))

FIRFilter

open class FIRFilter(bn: List<Double>)

MovingAverageFilter

class MovingAverageFilter(N: Int) : FIRFilter

SlewRateLimiter

class SlewRateLimiter(r: Double)

A class that limits the rate of change of an input value. Useful for implementing voltage, setpoint, and/or output ramps. A slew-rate limit is most appropriate when the quantity being controlled is a velocity or a voltage; when controlling a position, consider using a {@link package com.asiankoala.koawalib.control.profile.MotionProfile} instead.