challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/HallEffectBuffer.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 public class HallEffectBuffer {
   4   int length;
   5   int index;
   6   double[] bufferVals;
   7
   8   public HallEffectBuffer(int length) {
   9     this.length = length;
  10     bufferVals = new double[length];
  11     index = 0;
  12   }
  13
  14   public void add(double val) {
  15     bufferVals[index++] = val;
  16     if (index >= bufferVals.length) {
  17       index = 0;
  18     }
  19   }
  20
  21   /**
  22    * Gets average buffer value from array of existing buffer vals
  23    *
  24    * @return average buffered speed
  25    */
  26   public double getAverage() {
  27     double total = 0;
  28     for (int i = 0; i < index; i++) {
  29       total += bufferVals[i];
  30     }
  31     return total / bufferVals.length;
  32   }
  33 }