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Unread 29-01-2016, 21:04
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Re: FRC Sonar Reading Delays

Also to readdress the question let me define the method getAverageValue() as it is stated in the latest FRC api.

public int getAverageValue():

Gets a sample from the output of the oversample and average engine for this channel. The sample is 12-bit + the bits configured in SetOversampleBits(). The value configured in setAverageBits() will cause this value to be averaged 2^bits number of samples. This is not a sliding window. The sample will not change until 2^(OversampleBits + AverageBits) samples have been acquired from this channel. Use getAverageVoltage() to get the analog value in calibrated units.

Method Returns:
A sample from the oversample and average engine for this channel.

So in this case, the output is having a 1 second delay because the sample will not change until 2^(OversampleBits + AverageBits) have been acquired.

Hope this answers your question!
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