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Re: Sensor "de-noising"
A Kalman filter is completely useless for this as you're dealing with a digital switch, not an analog sensor. When do you need code for this by? Writing a wrapper for a C++ DigitalInput wouldn't be too time consuming, but I can't guarantee it'll work until I get a chance to test it on our robot. And if you're using Java, you'd have to port it yourself.
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