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/**
* Copyright (c) 2011, 2016 Luke Shumaker
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.PIDOutput;
/**
* TODO: Write JavaDocs
*/
public class RollingAvg implements PIDSource, PIDOutput {
private PIDSource source = null;
private double[] points;
private double avg;
private int i;
public RollingAvg(int len) {
points = new double[len];
i = 0;
avg = 0;
}
public RollingAvg(int len, PIDSource src) {
this(len);
source = src;
}
public double push(double v) {
avg -= points[i];
points[i] = v/points.length;
avg += points[i];
i++; i %= points.length;
return avg;
}
public double get() {
return avg;
}
public double pidGet() {
if (source!=null)
return push(source.pidGet());
else
return get();
}
public void pidWrite(double output) {
push(output);
}
public void setPIDSourceType(PIDSourceType srcType) {
if (source!=null)
source.setPIDSourceType(srcType);
}
public PIDSourceType getPIDSourceType() {
if (source!=null)
return source.getPIDSourceType();
else
return null;
}
}
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