valor::sensors::DebounceSensor Class Reference

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

#include <valkyrie/sensors/DebounceSensor.h>

Inheritance diagram for valor::sensors::DebounceSensor:

Public Member Functions
	DebounceSensor ()
	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.
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Public Member Functions inherited from valor::sensors::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 () 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
	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.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Protected Member Functions
void	Calculate () override
	Perform debounce-specific calculations.
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()
Static Public Attributes inherited from valor::sensors::BaseSensorCore
static constexpr units::millisecond_t	LOOP_PERIOD = frc::TimedRobot::kDefaultPeriod / 2
Protected Attributes inherited from valor::sensors::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

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::sensors::DebounceSensor::DebounceSensor

(

)

Construct a new DebounceSensor object.

Parameters

robot

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

Member Function Documentation

Calculate()

void valor::sensors::DebounceSensor::Calculate ( )

overrideprotectedvirtual

Perform debounce-specific calculations.

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

Reimplemented from valor::sensors::BaseSensorCore.

Reimplemented in valor::sensors::LaserProximitySensor.

LoggablePeriodic()

void valor::sensors::DebounceSensor::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

SetEdgeCallback()

void valor::sensors::DebounceSensor::SetEdgeCallback ( std::function< void()> lambda )

inline

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::sensors::DebounceSensor::SetFallingEdgeCallback ( std::function< void()> lambda )

inline

Set a callback function for detecting a falling edge.

Parameters

_lambda

Lambda function to execute when a falling edge is detected.

SetRisingEdgeCallback()

void valor::sensors::DebounceSensor::SetRisingEdgeCallback ( std::function< void()> lambda )

inline

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