From 126c4bb2963676b8911ec34eb1c0abcaaf4da5de Mon Sep 17 00:00:00 2001
From: Dan Katzuv <dan.dan.kafe@gmail.com>
Date: Sun, 16 Feb 2025 19:10:23 +0200
Subject: [PATCH] Add limit setters to `SlewRateLimiter`

---
 .../first/math/filter/SlewRateLimiter.java    | 28 +++++++++++++++++--
 .../include/frc/filter/SlewRateLimiter.h      | 25 +++++++++++++++++
 2 files changed, 51 insertions(+), 2 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
index d9eca58419a..d627cbcde9a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
@@ -14,8 +14,8 @@
  * edu.wpi.first.math.trajectory.TrapezoidProfile} instead.
  */
 public class SlewRateLimiter {
-  private final double m_positiveRateLimit;
-  private final double m_negativeRateLimit;
+  private double m_positiveRateLimit;
+  private double m_negativeRateLimit;
   private double m_prevVal;
   private double m_prevTime;
 
@@ -82,4 +82,28 @@ public void reset(double value) {
     m_prevVal = value;
     m_prevTime = MathSharedStore.getTimestamp();
   }
+
+  /**
+   * Sets the rate-of-change limit.
+   *
+   * @param positiveRateLimit The rate-of-change limit in the positive direction, in units per
+   *     second. This is expected to be positive.
+   * @param negativeRateLimit The rate-of-change limit in the negative direction, in units per
+   *     second. This is expected to be negative.
+   */
+  public void setLimit(double positiveRateLimit, double negativeRateLimit) {
+    m_positiveRateLimit = positiveRateLimit;
+    m_negativeRateLimit = negativeRateLimit;
+  }
+
+  /**
+   * Sets the rate-of-change limit in both directions.
+   *
+   * @param rateLimit The rate-of-change limit in both directions, in units per second. This is
+   *     expected to be positive.
+   */
+  public void setLimit(double rateLimit) {
+    m_positiveRateLimit = rateLimit;
+    m_negativeRateLimit = rateLimit;
+  }
 }
diff --git a/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h b/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
index f04aac4855a..65d630cb1d9 100644
--- a/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
+++ b/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
@@ -92,6 +92,31 @@ class SlewRateLimiter {
     m_prevTime = wpi::math::MathSharedStore::GetTimestamp();
   }
 
+  /**
+   * Sets the rate-of-change limit.
+   *
+   * @param positiveRateLimit The rate-of-change limit in the positive direction, in units per
+   *     second. This is expected to be positive.
+   * @param negativeRateLimit The rate-of-change limit in the negative direction, in units per
+   *     second. This is expected to be negative.
+   */
+  void SetLimit(Rate_t positiveRateLimit, Rate_t negativeRateLimit) {
+    m_positiveRateLimit = positiveRateLimit;
+    m_negativeRateLimit = negativeRateLimit;
+  }
+
+  /**
+   * Sets the rate-of-change limit in both directions.
+   *
+   * @param rateLimit The rate-of-change limit in both directions, in units per second. This is
+   *     expected to be positive.
+   */
+  void SetLimit(Rate_t rateLimit) {
+    m_positiveRateLimit = rateLimit;
+    m_negativeRateLimit = rateLimit;
+  }
+
+
  private:
   Rate_t m_positiveRateLimit;
   Rate_t m_negativeRateLimit;