valor::DebounceSensor Class Reference

Sensor for debouncing and detecting rising/falling edges of boolean inputs. More...

#include <DebounceSensor.h>

Inheritance diagram for valor::DebounceSensor:

Public Member Functions
	DebounceSensor (frc::TimedRobot &robot)
	Construct a new DebounceSensor object.
void	setEdgeCallback (std::function< void()> _lambda)
	Set a callback function for detecting any edge (rising or falling).
void	setRisingEdgeCallback (std::function< void()> _lambda)
	Set a callback function for detecting a rising edge.
void	setFallingEdgeCallback (std::function< void()> _lambda)
	Set a callback function for detecting a falling edge.
Public Member Functions inherited from valor::BaseSensor< bool >
virtual void	reset ()
	Reset the sensor state.
void	setGetter (std::function< bool()> _lambda)
	Set the lambda function to fetch sensor data.
void	applyPostProcessing (std::function< bool(bool)> func)
	Set a post-processing function for sensor data.
bool	get ()
	Get the current sensor state.
Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Member Functions
void	calculate () override
	Perform debounce-specific calculations.
Protected Member Functions inherited from valor::BaseSensor< bool >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.
virtual void	refresh ()
	Refresh the sensor state.
Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable ()
	Default construct an uninitialized Loggable.
virtual	~Loggable ()=default
	Virtual destructor.
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.
template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.
template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
Protected Attributes inherited from valor::BaseSensor< bool >
std::function< bool()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< bool(bool)>	postProcessor
	Lambda function to post-process sensor data.
bool	prevState
	Previous and current sensor states.
bool	currState
frc::Timer	profiler

Detailed Description

Sensor for debouncing and detecting rising/falling edges of boolean inputs.

This class filters out noise in boolean inputs and detects edges (state changes).

• A rising edge occurs when the input changes from false to true.
• A falling edge occurs when the input changes from true to false.

Debouncing ensures that rapid state changes are treated as a single edge.

Constructor & Destructor Documentation

DebounceSensor()

valor::DebounceSensor::DebounceSensor ( frc::TimedRobot & robot )

explicit

Construct a new DebounceSensor object.

Parameters

robot

Reference to the robot, used to schedule the calculate method.

Member Function Documentation

calculate()

void valor::DebounceSensor::calculate ( )

overrideprotectedvirtual

Perform debounce-specific calculations.

This method is called every 10ms and processes the boolean input to detect edges.

Implements valor::BaseSensor< bool >.

Reimplemented in valor::LaserProximitySensor.

setEdgeCallback()

void valor::DebounceSensor::setEdgeCallback

(

std::function< void()>

_lambda

)

Set a callback function for detecting any edge (rising or falling).

Parameters

_lambda

Lambda function to execute when an edge is detected.

setFallingEdgeCallback()

void valor::DebounceSensor::setFallingEdgeCallback

(

std::function< void()>

_lambda

)

Set a callback function for detecting a falling edge.

Parameters

_lambda

Lambda function to execute when a falling edge is detected.

setRisingEdgeCallback()

void valor::DebounceSensor::setRisingEdgeCallback

(

std::function< void()>

_lambda

)

Set a callback function for detecting a rising edge.

Parameters

_lambda

Lambda function to execute when a rising edge is detected.

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/sensors/DebounceSensor.h