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[wpimath] Fix Debouncer type-changing behavior #7870

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[wpimath] Fix Debouncer type-changing behavior #7870

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93329df
[wpimath] Fix Debouncer type-changing behavior
crueter Mar 19, 2025
5ebd457
[wpimath] Reduce verbosity in Debouncer
crueter Mar 19, 2025
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8 changes: 3 additions & 5 deletions wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,11 +40,7 @@ public Debouncer(double debounceTime, DebounceType type) {

resetTimer();

m_baseline =
switch (m_debounceType) {
case kBoth, kRising -> false;
case kFalling -> true;
};
m_baseline = m_debounceType == DebounceType.kFalling;
}

/**
Expand Down Expand Up @@ -114,6 +110,8 @@ public double getDebounceTime() {
*/
public void setDebounceType(DebounceType type) {
m_debounceType = type;

m_baseline = m_debounceType == DebounceType.kFalling;
}

/**
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10 changes: 1 addition & 9 deletions wpimath/src/main/native/cpp/filter/Debouncer.cpp
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Expand Up @@ -10,15 +10,7 @@ using namespace frc;

Debouncer::Debouncer(units::second_t debounceTime, DebounceType type)
: m_debounceTime(debounceTime), m_debounceType(type) {
switch (type) {
case DebounceType::kBoth: // fall-through
case DebounceType::kRising:
m_baseline = false;
break;
case DebounceType::kFalling:
m_baseline = true;
break;
}
m_baseline = m_debounceType == DebounceType::kFalling;
ResetTimer();
}

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6 changes: 5 additions & 1 deletion wpimath/src/main/native/include/frc/filter/Debouncer.h
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Expand Up @@ -71,7 +71,11 @@ class WPILIB_DLLEXPORT Debouncer {
*
* @param type Which type of state change the debouncing will be performed on.
*/
constexpr void SetDebounceType(DebounceType type) { m_debounceType = type; }
constexpr void SetDebounceType(DebounceType type) {
m_debounceType = type;

m_baseline = m_debounceType == DebounceType::kFalling;
}

/**
* Get the debounce type.
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1 change: 1 addition & 0 deletions wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
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Expand Up @@ -84,5 +84,6 @@ void debounceParamsTest() {
debouncer.setDebounceType(Debouncer.DebounceType.kFalling);

assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kFalling);
assertTrue(debouncer.calculate(false));
}
}
2 changes: 2 additions & 0 deletions wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
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Expand Up @@ -72,4 +72,6 @@ TEST_F(DebouncerTest, DebounceParams) {

EXPECT_TRUE(debouncer.GetDebounceType() ==
frc::Debouncer::DebounceType::kFalling);

EXPECT_TRUE(debouncer.Calculate(false));
}
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