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Cleanup encoder class (#272)

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This commit is contained in:
Austin Shalit
2016-10-20 01:39:47 -04:00
committed by Peter Johnson
parent 8b94e0933a
commit 0613f1d182
1 changed files with 14 additions and 25 deletions
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39
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
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@@ -7,9 +7,6 @@
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.hal.EncoderJNI;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.hal.HAL;
@@ -19,18 +16,19 @@ import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.util.AllocationException;
/**
* Class to read quad encoders. Quadrature encoders are devices that count shaft rotation and can
* sense direction. The output of the QuadEncoder class is an integer that can count either up or
* down, and can go negative for reverse direction counting. When creating QuadEncoders, a direction
* is supplied that changes the sense of the output to make code more readable if the encoder is
* Class to read quadrature encoders. Quadrature encoders are devices that count shaft rotation and
* can sense direction. The output of the Encoder class is an integer that can count either up or
* down, and can go negative for reverse direction counting. When creating Encoders, a direction
* can be supplied that inverts the sense of the output to make code more readable if the encoder is
* mounted such that forward movement generates negative values. Quadrature encoders have two
* digital outputs, an A Channel and a B Channel that are out of phase with each other to allow the
* FPGA to do direction sensing.
* digital outputs, an A Channel and a B Channel, that are out of phase with each other for
* direction sensing.
*
* <p>All encoders will immediately start counting - reset() them if you need them to be zeroed
* before use.
*/
public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveWindowSendable {
public enum IndexingType {
kResetWhileHigh(0), kResetWhileLow(1), kResetOnFallingEdge(2), kResetOnRisingEdge(3);
@@ -74,8 +72,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
*/
private void initEncoder(boolean reverseDirection, final EncodingType type) {
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),
m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
m_pidSource = PIDSourceType.kDisplacement;
@@ -379,7 +377,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* Returns the period of the most recent pulse. Returns the period of the most recent Encoder
* pulse in seconds. This method compensates for the decoding type.
*
* <p></p><b>Warning:</b> This returns unscaled periods and getRate() scales using value from
* <p><b>Warning:</b> This returns unscaled periods and getRate() scales using value from
* setDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
@@ -423,13 +421,6 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
return EncoderJNI.getEncoderDirection(m_encoder);
}
/**
* The scale needed to convert a raw counter value into a number of encoder pulses.
*/
private double decodingScaleFactor() {
return EncoderJNI.getEncoderDecodingScaleFactor(m_encoder);
}
/**
* Get the distance the robot has driven since the last reset as scaled by the value from {@link
* #setDistancePerPulse(double)}.
@@ -581,19 +572,17 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
*/
public void setIndexSource(DigitalSource source, IndexingType type) {
EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting(), type.value);
source.getAnalogTriggerTypeForRouting(), type.value);
}
/**
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType() {
switch (EncoderJNI.getEncoderEncodingType(m_encoder)) {
case 2: // value of k4X
return "Quadrature Encoder";
default:
return "Encoder";
if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.k4X.value) {
return "Quadrature Encoder";
}
return "Encoder";
}
private ITable m_table;