CurrentSensor.h

#pragma once
 
#include <deque>
#include <string>
 
#include <frc/TimedRobot.h>
#include <frc/filter/LinearFilter.h>
 
#include "valkyrie/sensors/BaseSensor.h"
 
namespace valor {
namespace sensors {

class CurrentSensor : public BaseSensor<units::ampere_t> {
   public:
    explicit CurrentSensor(units::ampere_t threshold);

    void Reset() override;

    inline void SetSpikeCallback(std::function<void()> cb) { callback = cb; }

    void SetThreshold(units::ampere_t threshold);
 
    inline units::ampere_t GetThreshold() const { return threshold; }

    void SetFilterSize(int size);

    inline void SetFilterTime(units::second_t time) { SetFilterSize(time / LOOP_PERIOD); }
 
   protected:
    void Calculate() override;

    inline units::ampere_t GetAverage() const { return filter.LastValue(); }
 
    void LoggablePeriodic() override;
 
   private:
    static constexpr int DEFAULT_CACHE_SIZE = 100_ms / LOOP_PERIOD;
 
    frc::LinearFilter<units::ampere_t> filter = frc::LinearFilter<units::ampere_t>::MovingAverage(DEFAULT_CACHE_SIZE);
    std::function<void()> callback;  
    units::ampere_t threshold;       
};
 
}  // namespace sensors
}  // namespace valor