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// de-emphasize transient forces
private float lowPass(float current, float gravity) {
// ALPHA indicates the influence level of past observations
return current * (1-ALPHA) + gravity * ALPHA;
// de-emphasize constant forces
private float highPass(float current, float gravity) {
return current - gravity;
private boolean inRange(float value, float target, float tol) {
return value >= target-tol && value <= target+tol;
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