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.
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 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)

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.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.

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 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.

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