26 lines
779 B
C
26 lines
779 B
C
 
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#pragma once
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// Rate-limited setpoint smoother - identical to robot/SmoothedValue.h (kept
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// as a copy rather than moved to shared/ so the robot sketch stays untouched).
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// Used for UI-driven setpoints that would otherwise step: speed scale and
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// the remote-tilt fade.
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struct SmoothedValue {
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float current = 0;
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float target = 0;
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float max_rate; // units per second
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explicit SmoothedValue(float rate = 100.0f) : max_rate(rate) {}
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void setTarget(float t) { target = t; }
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float update(float dt) {
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float delta = target - current;
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float max_step = max_rate * dt;
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if (delta > max_step) delta = max_step;
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else if (delta < -max_step) delta = -max_step;
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current += delta;
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return current;
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}
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void reset(float v) { current = target = v; }
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};
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