# Slew Rate Limiter
A common use for filters in FRC|reg| is to soften the behavior of control inputs (for example, the joystick inputs from your driver controls). Unfortunately, a simple low-pass filter is poorly-suited for this job; while a low-pass filter will soften the response of an input stream to sudden changes, it will also wash out fine control detail and introduce phase lag. A better solution is to limit the rate-of-change of the control input directly. This is performed with a slew rate limiter - a filter that caps the maximum rate-of-change of the signal.
A slew rate limiter can be thought of as a sort of primitive motion profile. In fact, the slew rate limiter is the first-order equivalent of the :ref:`Trapezoidal Motion Profile <docs/software/advanced-controls/controllers/trapezoidal-profiles:Trapezoidal Motion Profiles in WPILib>` supported by WPILib - it is precisely the limiting case of trapezoidal motion when the acceleration constraint is allowed to tend to infinity. Accordingly, the slew rate limiter is a good choice for applying a de-facto motion profile to a stream of velocity setpoints (or voltages, which are usually approximately proportional to velocity). For input streams that control positions, it is usually better to use a proper trapezoidal profile.
Slew rate limiting is supported in WPILib through the SlewRateLimiter
class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/SlewRateLimiter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_slew_rate_limiter.html), :external:py:class:`Python <wpimath.filter.SlewRateLimiter>`).
## Creating a SlewRateLimiter
Note
The C++ SlewRateLimiter
class is templated on the unit type of the input. For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
Note
Because filters have "memory", each input stream requires its own filter object. Do not attempt to use the same filter object for multiple input streams.
Creating a SlewRateLimiter is simple:
.. tab-set-code:: ```java // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second SlewRateLimiter filter = new SlewRateLimiter(0.5); ``` ```c++ // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 volts per second frc::SlewRateLimiter<units::volts> filter{0.5_V / 1_s}; ``` ```python from wpimath.filter import SlewRateLimiter # Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second filter = SlewRateLimiter(0.5) ```
## Using a SlewRateLimiter
Once your filter has been created, using it is easy - simply call the calculate()
method with the most recent input to obtain the filtered output:
.. tab-set-code:: ```java // Calculates the next value of the output filter.calculate(input); ``` ```c++ // Calculates the next value of the output filter.Calculate(input); ``` ```python # Calculates the next value of the output filter.calculate(input) ```
### Using a SlewRateLimiter with DifferentialDrive
Note
The C++ example below templates the filter on units::scalar
for use with doubles, since joystick values are typically dimensionless.
A typical use of a SlewRateLimiter is to limit the acceleration of a robot's drive. This can be especially handy for robots that are very top-heavy, or that have very powerful drives. To do this, apply a SlewRateLimiter to a value passed into your robot drive function:
.. tab-set-code:: ```java // Ordinary call with no ramping applied drivetrain.arcadeDrive(forward, turn); // Slew-rate limits the forward/backward input, limiting forward/backward acceleration drivetrain.arcadeDrive(filter.calculate(forward), turn); ``` ```c++ // Ordinary call with no ramping applied drivetrain.ArcadeDrive(forward, turn); // Slew-rate limits the forward/backward input, limiting forward/backward acceleration drivetrain.ArcadeDrive(filter.Calculate(forward), turn); ``` ```python # Ordinary call with no ramping applied drivetrain.arcadeDrive(forward, turn) # Slew-rate limits the forward/backward input, limiting forward/backward acceleration drivetrain.arcadeDrive(filter.calculate(forward), turn) ```