valor::Gamepad::AnalogValue Class Reference

Represents a processed analog controller input. More...

#include <valkyrie/Gamepad.h>

Inheritance diagram for valor::Gamepad::AnalogValue:

Public Member Functions
void	SetGetter (std::function< double()> getter)
	Sets the function used to retrieve the raw input value.
void	Reset () override
	Resets the internal filter state.
bool	Active () const
	Checks whether the analog input is currently active.
AnalogValue &	SetDeadband (double deadband)
	Sets the deadband applied to the input.
AnalogValue &	SetRange (double min, double max=1)
	Sets the output range of the processed analog input.
double	GetDeadband () const
	Gets the configured deadband threshold.
double	GetMaxValue () const
	Gets the configured maximum output value.
double	GetMinValue () const
	Gets the configured minimum output value.
AnalogValue &	SetPolynomial (int poly)
	Sets the polynomial response curve exponent.
int	GetPolynomial () const
	Gets the configured polynomial exponent.
void	Calculate () override
	Updates the internal filter with the current processed value.
double	GetFiltered () const
	Gets the filtered analog value.
AnalogValue &	SetFilterSize (int size)
	Sets the moving-average filter window size.
AnalogValue &	SetFilterTime (units::second_t time)
	Sets the moving-average filter duration.
Public Member Functions inherited from valor::sensors::BaseSensor< double >
void	SetGetter (std::function< double()> _lambda)
	Set the lambda function to fetch sensor data.
void	ApplyPostProcessing (std::function< double(double)> func)
	Set a post-processing function for sensor data.
double	Get () const
	Get the current sensor state.
void	Refresh () override
	Refresh the sensor state.
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()
	Default construct an uninitialized 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	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	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.
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)

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()
Static Public Attributes inherited from valor::sensors::BaseSensorCore
static constexpr units::millisecond_t	LOOP_PERIOD = frc::TimedRobot::kDefaultPeriod / 2
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.
Protected Attributes inherited from valor::sensors::BaseSensor< double >
std::function< double()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< double(double)>	postProcessor
	Lambda function to post-process sensor data.
double	prevState
	Previous and current sensor states.
double	currState

Detailed Description

Represents a processed analog controller input.

AnalogValue wraps a raw controller axis and provides optional:

• Deadband processing
• Polynomial scaling
• Moving-average filtering

This class inherits from BaseSensor<double> to integrate with the sensor abstraction framework

Member Function Documentation

Active()

bool valor::Gamepad::AnalogValue::Active ( ) const

inline

Checks whether the analog input is currently active.

An input is considered active if its processed value is nonzero.

Returns

true if the processed value is nonzero

false if the processed value is zero

Calculate()

void valor::Gamepad::AnalogValue::Calculate ( )

inlineoverridevirtual

Updates the internal filter with the current processed value.

Will automatically be called periodically by BaseSensor

Reimplemented from valor::sensors::BaseSensorCore.

GetDeadband()

double valor::Gamepad::AnalogValue::GetDeadband ( ) const

inline

Gets the configured deadband threshold.

Returns

Current deadband value

GetFiltered()

double valor::Gamepad::AnalogValue::GetFiltered ( ) const

inline

Gets the filtered analog value.

Returns

Most recent filtered value

GetMaxValue()

double valor::Gamepad::AnalogValue::GetMaxValue ( ) const

inline

Gets the configured maximum output value.

Returns

Maximum output value

GetMinValue()

double valor::Gamepad::AnalogValue::GetMinValue ( ) const

inline

Gets the configured minimum output value.

Returns

Minimum output value

GetPolynomial()

int valor::Gamepad::AnalogValue::GetPolynomial ( ) const

inline

Gets the configured polynomial exponent.

Returns

Polynomial exponent

Reset()

void valor::Gamepad::AnalogValue::Reset ( )

inlineoverridevirtual

Resets the internal filter state.

Reimplemented from valor::sensors::BaseSensor< double >.

SetDeadband()

AnalogValue & valor::Gamepad::AnalogValue::SetDeadband ( double deadband )

inline

Sets the deadband applied to the input.

Input values whose magnitude is less than the deadband are treated as zero.

Parameters

deadband

Deadband threshold

Returns

Reference to this AnalogValue instance for chaining

SetFilterSize()

AnalogValue & valor::Gamepad::AnalogValue::SetFilterSize ( int size )

inline

Sets the moving-average filter window size.

Parameters

size	Number of samples used in the moving average

SetFilterTime()

AnalogValue & valor::Gamepad::AnalogValue::SetFilterTime ( units::second_t time )

inline

Sets the moving-average filter duration.

The filter size is computed using LOOP_PERIOD.

Parameters

time	Desired averaging duration

SetGetter()

void valor::Gamepad::AnalogValue::SetGetter

(

std::function< double()>

getter

)

Sets the function used to retrieve the raw input value.

Typically bound to one of the underlying XboxController axis getter functions.

Parameters

getter

Function returning the raw analog value

SetPolynomial()

AnalogValue & valor::Gamepad::AnalogValue::SetPolynomial ( int poly )

inline

Sets the polynomial response curve exponent.

Higher exponents reduce sensitivity near zero while preseving full-scale output

Examples:

• 1 = linear
• 2 = quadratic
• 3 = cubic

SetRange()

AnalogValue & valor::Gamepad::AnalogValue::SetRange ( double min, double max = 1 )

inline

Sets the output range of the processed analog input.

The processed input is linearly mapped into the range [min, max] after deadband removal and polynomial scaling.

Parameters

min	Minimum output magnitude immediately outside the deadband
max	Maximum output magnitude at full input

Returns

Reference to this AnalogValue instance for chaining

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

• src/main/include/valkyrie/Gamepad.h