CurrentSensor.h

 
#pragma once
 
#include <deque>
#include <string>
 
#include <frc/TimedRobot.h>
 
#include "valkyrie/sensors/BaseSensor.h"
 
namespace valor {
 
class CurrentSensor : public BaseSensor<double> {
   public:
    explicit CurrentSensor(frc::TimedRobot& robot);
 
    void reset() override;
 
    void setSpikeCallback(std::function<void()> _lambda);
 
    void setSpikeSetpoint(double _setpoint);
 
    void setCacheSize(int _size);
 
   protected:
    CurrentSensor() = default;
 
    void calculate() override;
 
    double getAverage();
 
   private:
    static constexpr int DEFAULT_CACHE_SIZE = 20 / 20.0;
    static constexpr double DEFAULT_SPIKE_VALUE = 22;
 
    std::function<void()> spikeCallback;         
    std::deque<double> cache;                    
    double spikedSetpoint{DEFAULT_SPIKE_VALUE};  
    int cacheSize{DEFAULT_CACHE_SIZE};           
};
 
}  // namespace valor