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CurrentSpikeCounter.java
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CurrentSpikeCounter.java
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc.robot.utils;
/**
* Current Spike Counter that can help identify when current is spiking
*/
public class CurrentSpikeCounter {
private double threshold;
private double deadband;
private double off_val;
private boolean isSpiking = false;
private boolean ramped = false;
private boolean isRamping = false;
/**
* Create a spike counter
*
* @param t - The threshold of current the counter should consider a success
* @param d - The deadband of current we must drop below before another success
* is observed
*/
public CurrentSpikeCounter(double t, double d) {
threshold = t;
deadband = d;
off_val = threshold - deadband;
}
/**
* Update the counter based on current
*
* @param current - The current
* @param skipRamp - Whether or not the ramp should be considered a success
* @return - Whether a spike has been observed
*/
public boolean update(double current, boolean skipRamp) {
if (!ramped && current > threshold) {
isRamping = true;
if (skipRamp)
return false;
else
return true;
} else if (isRamping && current < off_val) {
ramped = true;
isRamping = false;
return false;
} else if (ramped && current > threshold && !isSpiking) {
isSpiking = true;
return true;
} else if (ramped && current < off_val && isSpiking) {
isSpiking = false;
return false;
} else {
return false;
}
}
/**
* Has the current ramped
*
* @return - Whether or not the current has ramped
*/
public boolean hasRamped() {
return ramped;
}
/**
* Is the current currently ramping
*
* @return - Whether or not the current is ramping
*/
public boolean isRamping() {
return isRamping;
}
/**
* Is the current spiking (has already ramped)
*
* @return - Whether or not the current is spiking (after ramping)
*/
public boolean isSpiking() {
return isSpiking;
}
}