hexapod-robot/2026-current/robot/SmoothedValue.h

#pragma once

// Rate-limited setpoint smoother. Every place a discrete command can jump
// (body pose axes, gait speed, the sit/stand blend) gets one of these instead
// of using the raw commanded value directly.
struct SmoothedValue {
  float current = 0;
  float target  = 0;
  float max_rate;   // units per second

  explicit SmoothedValue(float rate = 100.0f) : max_rate(rate) {}

  void setTarget(float t) { target = t; }

  float update(float dt) {
    float delta = target - current;
    float max_step = max_rate * dt;
    if (delta > max_step) delta = max_step;
    else if (delta < -max_step) delta = -max_step;
    current += delta;
    return current;
  }

  void reset(float v) { current = target = v; }
};