org.usfirst.frc.team1736.lib.SignalMath

Class AveragingFilter

java.lang.Object

org.usfirst.frc.team1736.lib.SignalMath.AveragingFilter

public class AveragingFilter
extends java.lang.Object

Class which implements a simple average filter. After initialization, the "filter()" method can simply be called with the newest input, and the most recent filtered output will be returned.

Constructor Summary

Constructors

Constructor and Description
AveragingFilter(int length, double init_val) Initialize all things needed for the averaging filter.

Method Summary

Modifier and Type	Method and Description
double	filter(double input) Add a new input to the filter and get the current output from the filter
void	reset()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

AveragingFilter

public AveragingFilter(int length,
                       double init_val)

Initialize all things needed for the averaging filter.

Parameters:

length - The number of previous points to consider in the averaged output. Larger values will reduce noise more aggressively, but also induce more delay in the signal.

init_val - The initial value the filter should output. Usually zero, but might be something else if you know more about your system than we do.

Method Detail

filter

public double filter(double input)

Add a new input to the filter and get the current output from the filter

Parameters:

input - new value to add to the filter

Returns:

the present output filtered value

reset

public void reset()