Debouncer

class wpimath.filter.Debouncer(debounceTime: wpimath.units.seconds, type: wpimath.filter._filter.Debouncer.DebounceType = <DebounceType.kRising: 0>)

Bases: pybind11_object

A simple debounce filter for boolean streams. Requires that the boolean change value from baseline for a specified period of time before the filtered value changes.

Creates a new Debouncer.

Parameters:

debounceTime – The number of seconds the value must change from baseline for the filtered value to change.
type – Which type of state change the debouncing will be performed on.

class DebounceType(value: SupportsInt)

Bases: pybind11_object

Type of debouncing to perform.

Members:

kRising : Rising edge.

kFalling : Falling edge.

kBoth : Both rising and falling edges.

kBoth = <DebounceType.kBoth: 2>

kFalling = <DebounceType.kFalling: 1>

kRising = <DebounceType.kRising: 0>

property name

property value

calculate(input: bool) → bool

Applies the debouncer to the input stream.

Parameters:: input – The current value of the input stream.
Returns:: The debounced value of the input stream.

getDebounceTime() → wpimath.units.seconds

Gets the time to debounce.

Returns:: The number of seconds the value must change from baseline for the filtered value to change.

getDebounceType() → wpimath.filter._filter.Debouncer.DebounceType

Get the debounce type.

Returns:: Which type of state change the debouncing will be performed on.

setDebounceTime(time: wpimath.units.seconds) → None

Sets the time to debounce.

Parameters:: time – The number of seconds the value must change from baseline for the filtered value to change.

setDebounceType(type: wpimath.filter._filter.Debouncer.DebounceType) → None

Set the debounce type.

Parameters:: type – Which type of state change the debouncing will be performed on.