deadband.h

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/**
 * @file    deadband.h
 *
 * @date April 6, 2020
 * @author Matthew Kennedy, (c) 2020
 */
 
#pragma once
 
#include "efilib.h"
 
template <int TDeadband>
class Deadband {
public:
    bool gt(float lhs, float rhs) {
        // If we're within the deadband, be "sticky" with the previous value
        float absError = std::abs(lhs - rhs);
 
        // If there's enough error, actually compare values
        if (absError > TDeadband) {
            m_lastState = lhs > rhs;
        }
 
        return m_lastState;
    }
 
    // Deadband has no concept of equal - only greater and less, so to compute gt, we just swap args
    bool lt(float lhs, float rhs) {
        return gt(rhs, lhs);
    }
 
private:
    bool m_lastState =false;
};