Completed artf2662: removed Start()/Stop() in Encoders and Counters.

Change-Id: I11954bb5f66e54461455637d79013c1071f5d00f

wpilibc/wpilibC++/include/Counter.h

@@ -16,6 +16,9 @@
  * This is a general purpose class for counting repetitive events. It can return the number
  * of counts, the period of the most recent cycle, and detect when the signal being counted
  * has stopped by supplying a maximum cycle time.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
  */
 class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
 {
@@ -55,10 +58,8 @@ public:
 	void SetReverseDirection(bool reverseDirection);
 
 	// CounterBase interface
-	void Start();
 	int32_t Get();
 	void Reset();
-	void Stop();
 	double GetPeriod();
 	void SetMaxPeriod(double maxPeriod);
 	void SetUpdateWhenEmpty(bool enabled);

wpilibc/wpilibC++/include/CounterBase.h

@@ -7,8 +7,11 @@
 
 /**
  * Interface for counting the number of ticks on a digital input channel.
- * Encoders, Gear tooth sensors, and counters should all subclass this so it can be used to
- * build more advanced classes for control and driving.
+ * Encoders, Gear tooth sensors, and counters should all subclass this so it can
+ * be used to build more advanced classes for control and driving.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
  */
 class CounterBase
 {
@@ -21,10 +24,8 @@ public:
 	};
 
 	virtual ~CounterBase() {}
-	virtual void Start() = 0;
 	virtual int32_t Get() = 0;
 	virtual void Reset() = 0;
-	virtual void Stop() = 0;
 	virtual double GetPeriod() = 0;
 	virtual void SetMaxPeriod(double maxPeriod) = 0;
 	virtual bool GetStopped() = 0;

wpilibc/wpilibC++/include/Encoder.h

@@ -22,6 +22,9 @@ class DigitalSource;
  * 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.
+ *
+ * All encoders will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
  */
 class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
 {
@@ -36,11 +39,9 @@ public:
 	virtual ~Encoder();
 
 	// CounterBase interface
-	void Start();
 	int32_t Get();
 	int32_t GetRaw();
 	void Reset();
-	void Stop();
 	double GetPeriod();
 	void SetMaxPeriod(double maxPeriod);
 	bool GetStopped();

wpilibc/wpilibC++/lib/Counter.cpp

@@ -14,6 +14,8 @@
 /**
  * Create an instance of a counter object.
  * This creates a ChipObject counter and initializes status variables appropriately
+ *
+ * The counter will start counting immediately.
  */
 void Counter::InitCounter(Mode mode)
 {
@@ -30,12 +32,19 @@ void Counter::InitCounter(Mode mode)
 	m_allocatedDownSource = false;
 
 	HALReport(HALUsageReporting::kResourceType_Counter, index, mode);
+
+	if (StatusIsFatal()) return;
+	status = 0;
+	startCounter(m_counter, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
 /**
  * Create an instance of a counter where no sources are selected.
  * Then they all must be selected by calling functions to specify the upsource and the downsource
  * independently.
+ *
+ * The counter will start counting immediately.
  */
 Counter::Counter() :
 	m_upSource(NULL),
@@ -49,6 +58,8 @@ Counter::Counter() :
  * Create an instance of a counter from a Digital Input.
  * This is used if an existing digital input is to be shared by multiple other objects such
  * as encoders.
+ *
+ * The counter will start counting immediately.
  */
 Counter::Counter(DigitalSource *source) :
 	m_upSource(NULL),
@@ -73,6 +84,8 @@ Counter::Counter(DigitalSource &source) :
 /**
  * Create an instance of a Counter object.
  * Create an up-Counter instance given a channel.
+ *
+ * The counter will start counting immediately.
  */
 Counter::Counter(uint32_t channel) :
 	m_upSource(NULL),
@@ -88,6 +101,8 @@ Counter::Counter(uint32_t channel) :
  * Create an instance of a Counter object.
  * Create an instance of a simple up-Counter given an analog trigger.
  * Use the trigger state output from the analog trigger.
+ *
+ * The counter will start counting immediately.
  */
 Counter::Counter(AnalogTrigger *trigger) :
 	m_upSource(NULL),
@@ -447,19 +462,6 @@ void Counter::SetSamplesToAverage (int samplesToAverage) {
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
-/**
- * Start the Counter counting.
- * This enables the counter and it starts accumulating counts from the associated
- * input channel. The counter value is not reset on starting, and still has the previous value.
- */
-void Counter::Start()
-{
-	if (StatusIsFatal()) return;
-	int32_t status = 0;
-	startCounter(m_counter, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
-
 /**
  * Read the current counter value.
  * Read the value at this instant. It may still be running, so it reflects the current value. Next
@@ -487,18 +489,6 @@ void Counter::Reset()
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
-/**
- * Stop the Counter.
- * Stops the counting but doesn't effect the current value.
- */
-void Counter::Stop()
-{
-	if (StatusIsFatal()) return;
-	int32_t status = 0;
-	stopCounter(m_counter, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
-
 /*
  * Get the Period of the most recent count.
  * Returns the time interval of the most recent count. This can be used for velocity calculations

wpilibc/wpilibC++/lib/Encoder.cpp

@@ -14,6 +14,9 @@
 /**
  * Common initialization code for Encoders.
  * This code allocates resources for Encoders and is common to all constructors.
+ *
+ * The counter will start counting immediately.
+ *
  * @param reverseDirection If true, counts down instead of up (this is all relative)
  * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
  * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
@@ -64,11 +67,21 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
 
 	HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
 	LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
+
+	if (StatusIsFatal()) return;
+	if (!m_counter) {
+		int32_t status = 0;
+		startEncoder(m_encoder, &status);
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
 }
 
 /**
  * Encoder constructor.
  * Construct a Encoder given a and b channels.
+ *
+ * The counter will start counting immediately.
+ *
  * @param aChannel The a channel digital input channel.
  * @param bChannel The b channel digital input channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -95,6 +108,9 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, En
  * Construct a Encoder given a and b channels as digital inputs. This is used in the case
  * where the digital inputs are shared. The Encoder class will not allocate the digital inputs
  * and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
  * @param aSource The source that should be used for the a channel.
  * @param bSource the source that should be used for the b channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -124,6 +140,9 @@ Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDir
  * Construct a Encoder given a and b channels as digital inputs. This is used in the case
  * where the digital inputs are shared. The Encoder class will not allocate the digital inputs
  * and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
  * @param aSource The source that should be used for the a channel.
  * @param bSource the source that should be used for the b channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -165,39 +184,6 @@ Encoder::~Encoder()
 	}
 }
 
-/**
- * Start the Encoder.
- * Starts counting pulses on the Encoder device.
- */
-void Encoder::Start()
-{
-	if (StatusIsFatal()) return;
-	if (m_counter)
-		m_counter->Start();
-	else
-	{
-		int32_t status = 0;
-		startEncoder(m_encoder, &status);
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-}
-
-/**
- * Stops counting pulses on the Encoder device. The value is not changed.
- */
-void Encoder::Stop()
-{
-	if (StatusIsFatal()) return;
-	if (m_counter)
-		m_counter->Stop();
-	else
-	{
-		int32_t status = 0;
-		stopEncoder(m_encoder, &status);
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-}
-
 /**
  * Gets the raw value from the encoder.
  * The raw value is the actual count unscaled by the 1x, 2x, or 4x scale

wpilibc/wpilibC++/lib/Ultrasonic.cpp

@@ -71,7 +71,6 @@ void Ultrasonic::Initialize()
 	m_counter->SetMaxPeriod(1.0);
 	m_counter->SetSemiPeriodMode(true);
 	m_counter->Reset();
-	m_counter->Start();
 	m_enabled = true; // make it available for round robin scheduling
 	SetAutomaticMode(originalMode);
 

wpilibc/wpilibC++IntegrationTests/src/CounterTest.cpp

@@ -56,7 +56,6 @@ protected:
  */
 TEST_F(CounterTest, CountTalon) {
   Reset();
-  m_talonCounter->Start();
   /* Run the motor forward and determine if the counter is counting. */
   m_talon->Set(1.0f);
   Wait(0.5);
@@ -72,7 +71,6 @@ TEST_F(CounterTest, CountTalon) {
 
 TEST_F(CounterTest, CountVictor) {
   Reset();
-  m_victorCounter->Start();
   /* Run the motor forward and determine if the counter is counting. */
   m_victor->Set(1.0f);
   Wait(0.5);
@@ -88,7 +86,6 @@ TEST_F(CounterTest, CountVictor) {
 
 TEST_F(CounterTest, CountJaguar) {
   Reset();
-  m_jaguarCounter->Start();
   /* Run the motor forward and determine if the counter is counting. */
   m_jaguar->Set(1.0f);
   Wait(0.5);
@@ -108,7 +105,6 @@ TEST_F(CounterTest, CountJaguar) {
  */
 TEST_F(CounterTest, TalonGetStopped) {
   Reset();
-  m_talonCounter->Start();
   /* Set the Max Period of the counter and run the motor */
   m_talonCounter->SetMaxPeriod(kMaxPeriod);
   m_talon->Set(1.0f);
@@ -124,7 +120,6 @@ TEST_F(CounterTest, TalonGetStopped) {
 
 TEST_F(CounterTest, VictorGetStopped) {
   Reset();
-  m_victorCounter->Start();
   /* Set the Max Period of the counter and run the motor */
   m_victorCounter->SetMaxPeriod(kMaxPeriod);
   m_victor->Set(1.0f);
@@ -140,7 +135,6 @@ TEST_F(CounterTest, VictorGetStopped) {
 
 TEST_F(CounterTest, JaguarGetStopped) {
   Reset();
-  m_jaguarCounter->Start();
   /* Set the Max Period of the counter and run the motor */
   m_jaguarCounter->SetMaxPeriod(kMaxPeriod);
   m_jaguar->Set(1.0f);

wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp

@@ -61,7 +61,6 @@ TEST_F(DIOLoopTest, FakeCounter) {
 	Reset();
 
 	Counter counter(m_input);
-	counter.Start();
 
 	EXPECT_EQ(0, counter.Get()) << "Counter did not initialize to 0.";
 

wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp

@@ -64,7 +64,6 @@ protected:
 	void Reset() {
 		m_speedController->Set(0.0f);
 		m_encoder->Reset();
-		m_encoder->Start();
 	}
 };
 

wpilibc/wpilibC++Sim/include/Counter.h

@@ -14,6 +14,9 @@
  * This is a general purpose class for counting repetitive events. It can return the number
  * of counts, the period of the most recent cycle, and detect when the signal being counted
  * has stopped by supplying a maximum cycle time.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
  */
 class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
 {
@@ -52,10 +55,8 @@ public:
 	void SetReverseDirection(bool reverseDirection);
 
 	// CounterBase interface
-	void Start();
 	int32_t Get();
 	void Reset();
-	void Stop();
 	double GetPeriod();
 	void SetMaxPeriod(double maxPeriod);
 	void SetUpdateWhenEmpty(bool enabled);

wpilibc/wpilibC++Sim/include/CounterBase.h

@@ -9,6 +9,9 @@
  * Interface for counting the number of ticks on a digital input channel.
  * Encoders, Gear tooth sensors, and counters should all subclass this so it can be used to
  * build more advanced classes for control and driving.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
  */
 class CounterBase
 {
@@ -21,10 +24,8 @@ public:
 	};
 
 	virtual ~CounterBase() {}
-	virtual void Start() = 0;
 	virtual int32_t Get() = 0;
 	virtual void Reset() = 0;
-	virtual void Stop() = 0;
 	virtual double GetPeriod() = 0;
 	virtual void SetMaxPeriod(double maxPeriod) = 0;
 	virtual bool GetStopped() = 0;

wpilibc/wpilibC++Sim/include/Encoder.h

@@ -20,6 +20,9 @@
  * 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.
+ *
+ * All encoders will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
  */
 class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
 {
@@ -32,11 +35,9 @@ public:
 	virtual ~Encoder();
 
 	// CounterBase interface
-	void Start();
 	int32_t Get();
 	int32_t GetRaw();
 	void Reset();
-	void Stop();
 	double GetPeriod();
 	void SetMaxPeriod(double maxPeriod);
 	bool GetStopped();

wpilibc/wpilibC++Sim/src/Encoder.cpp

@@ -12,6 +12,9 @@
 /**
  * Common initialization code for Encoders.
  * This code allocates resources for Encoders and is common to all constructors.
+ *
+ * The counter will start counting immediately.
+ *
  * @param reverseDirection If true, counts down instead of up (this is all relative)
  * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
  * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
@@ -22,8 +25,8 @@
 void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, EncodingType encodingType)
 {
 	m_table = NULL;
-    this->channelA = channelA;
-    this->channelB = channelB;
+	this->channelA = channelA;
+	this->channelB = channelB;
 	m_encodingType = encodingType;
 
 	int32_t index = 0;
@@ -32,22 +35,26 @@ void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, Enc
 
 	LiveWindow::GetInstance()->AddSensor("Encoder", channelA, this);
 
-    if (channelB < channelA) { // Swap ports
-        int channel = channelB;
-        channelB = channelA;
-        channelA = channel;
-        m_reverseDirection = !reverseDirection;
-    } else {
-        m_reverseDirection = reverseDirection;
-    }
-    char buffer[50];
-    int n = sprintf(buffer, "dio/%d/%d", channelA, channelB);
-    impl = new SimEncoder(buffer);
+	if (channelB < channelA) { // Swap ports
+		int channel = channelB;
+		channelB = channelA;
+		channelA = channel;
+		m_reverseDirection = !reverseDirection;
+	} else {
+		m_reverseDirection = reverseDirection;
+	}
+	char buffer[50];
+	int n = sprintf(buffer, "dio/%d/%d", channelA, channelB);
+	impl = new SimEncoder(buffer);
+	impl->Start();
 }
 
 /**
  * Encoder constructor.
  * Construct a Encoder given a and b channels.
+ *
+ * The counter will start counting immediately.
+ *
  * @param aChannel The a channel digital input channel.
  * @param bChannel The b channel digital input channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -68,6 +75,9 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, En
  * Construct a Encoder given a and b channels as digital inputs. This is used in the case
  * where the digital inputs are shared. The Encoder class will not allocate the digital inputs
  * and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
  * @param aSource The source that should be used for the a channel.
  * @param bSource the source that should be used for the b channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -97,6 +107,9 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, En
  * Construct a Encoder given a and b channels as digital inputs. This is used in the case
  * where the digital inputs are shared. The Encoder class will not allocate the digital inputs
  * and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
  * @param aSource The source that should be used for the a channel.
  * @param bSource the source that should be used for the b channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -127,23 +140,6 @@ Encoder::~Encoder()
 
 }
 
-/**
- * Start the Encoder.
- * Starts counting pulses on the Encoder device.
- */
-void Encoder::Start()
-{
-    impl->Start();
-}
-
-/**
- * Stops counting pulses on the Encoder device. The value is not changed.
- */
-void Encoder::Stop()
-{
-    impl->Stop();
-}
-
 /**
  * Reset the Encoder distance to zero.
  * Resets the current count to zero on the encoder.

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -24,6 +24,9 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
  * general purpose class for counting repetitive events. It can return the
  * number of counts, the period of the most recent cycle, and detect when the
  * signal being counted has stopped by supplying a maximum cycle time.
+ *
+ * All counters will immediately start counting - reset() them if you need them
+ * to be zeroed before use.
  */
 public class Counter extends SensorBase implements CounterBase,
 		LiveWindowSendable, PIDSource {
@@ -91,12 +94,19 @@ public class Counter extends SensorBase implements CounterBase,
 
 		UsageReporting.report(tResourceType.kResourceType_Counter, m_index,
 				mode.value);
+
+		status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		CounterJNI.startCounter(m_counter, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
 	 * Create an instance of a counter where no sources are selected. Then they
 	 * all must be selected by calling functions to specify the upsource and the
 	 * downsource independently.
+	 *
+	 * The counter will start counting immediately.
 	 */
 	public Counter() {
 		initCounter(Mode.kTwoPulse);
@@ -107,6 +117,8 @@ public class Counter extends SensorBase implements CounterBase,
 	 * existing digital input is to be shared by multiple other objects such as
 	 * encoders.
 	 *
+	 * The counter will start counting immediately.
+	 *
 	 * @param source
 	 *            the digital source to count
 	 */
@@ -121,6 +133,8 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Create an instance of a Counter object. Create an up-Counter instance
 	 * given a channel.
 	 *
+	 * The counter will start counting immediately.
+	 *
 	 * @param channel
 	 *            the digital input channel to count
 	 */
@@ -134,6 +148,8 @@ public class Counter extends SensorBase implements CounterBase,
 	 * up-Counter given an analog trigger. Use the trigger state output from the
 	 * analog trigger.
 	 *
+	 * The counter will start counting immediately.
+	 *
 	 * @param encodingType
 	 *            which edges to count
 	 * @param upSource
@@ -175,6 +191,8 @@ public class Counter extends SensorBase implements CounterBase,
 	 * up-Counter given an analog trigger. Use the trigger state output from the
 	 * analog trigger.
 	 *
+	 * The counter will start counting immediately.
+	 *
 	 * @param trigger
 	 *            the analog trigger to count
 	 */
@@ -422,18 +440,6 @@ public class Counter extends SensorBase implements CounterBase,
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
-	/**
-	 * Start the Counter counting. This enables the counter and it starts
-	 * accumulating counts from the associated input channel. The counter value
-	 * is not reset on starting, and still has the previous value.
-	 */
-	public void start() {
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		CounterJNI.startCounter(m_counter, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-	}
-
 	/**
 	 * Read the current counter value. Read the value at this instant. It may
 	 * still be running, so it reflects the current value. Next time it is read,
@@ -469,17 +475,6 @@ public class Counter extends SensorBase implements CounterBase,
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
-	/**
-	 * Stop the Counter. Stops the counting but doesn't effect the current
-	 * value.
-	 */
-	public void stop() {
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		CounterJNI.stopCounter(m_counter, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-	}
-
 	/**
 	 * Set the maximum period where the device is still considered "moving".
 	 * Sets the maximum period where the device is considered moving. This value

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CounterBase.java

@@ -11,6 +11,9 @@ package edu.wpi.first.wpilibj;
  * Interface for counting the number of ticks on a digital input channel.
  * Encoders, Gear tooth sensors, and counters should all subclass this so it can be used to
  * build more advanced classes for control and driving.
+ *
+ * All counters will immediately start counting - reset() them if you need them
+ * to be zeroed before use.
  */
 public interface CounterBase {
 
@@ -44,11 +47,6 @@ public interface CounterBase {
         }
     }
 
-    /**
-     * Start the counter
-     */
-    public void start();
-
     /**
      * Get the count
      * @return the count
@@ -60,11 +58,6 @@ public interface CounterBase {
      */
     void reset();
 
-    /**
-     * Stop counting
-     */
-    void stop();
-
     /**
      * Get the time between the last two edges counted
      * @return the time beteween the last two ticks in seconds

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -28,6 +28,9 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
  * 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.
+ *
+ * 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 {
 
@@ -58,6 +61,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * Common initialization code for Encoders. This code allocates resources
 	 * for Encoders and is common to all constructors.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param reverseDirection
 	 *            If true, counts down instead of up (this is all relative)
 	 * @param encodingType
@@ -102,11 +107,21 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 		UsageReporting.report(tResourceType.kResourceType_Encoder,
 				m_index, m_encodingType.value);
 		LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
+
+		if (m_counter == null) {
+			ByteBuffer status = ByteBuffer.allocateDirect(4);
+			// set the byte order
+			status.order(ByteOrder.LITTLE_ENDIAN);
+			EncoderJNI.startEncoder(m_encoder, status.asIntBuffer());
+			HALUtil.checkStatus(status.asIntBuffer());
+		}
 	}
 
 	/**
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -129,6 +144,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	/**
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -141,6 +158,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	/**
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -175,6 +194,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 * Using an index pulse forces 4x encoding
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -201,6 +222,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 * Using an index pulse forces 4x encoding
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -219,6 +242,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * shared. The Encoder class will not allocate the digital inputs and assume
 	 * that they already are counted.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aSource
 	 *            The source that should be used for the a channel.
 	 * @param bSource
@@ -248,6 +273,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * shared. The Encoder class will not allocate the digital inputs and assume
 	 * that they already are counted.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aSource
 	 *            The source that should be used for the a channel.
 	 * @param bSource
@@ -263,6 +290,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * shared. The Encoder class will not allocate the digital inputs and assume
 	 * that they already are counted.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aSource
 	 *            The source that should be used for the a channel.
 	 * @param bSource
@@ -304,6 +333,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * shared. The Encoder class will not allocate the digital inputs and assume
 	 * that they already are counted.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aSource
 	 *            The source that should be used for the a channel.
 	 * @param bSource
@@ -337,6 +368,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * shared. The Encoder class will not allocate the digital inputs and assume
 	 * that they already are counted.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aSource
 	 *            The source that should be used for the a channel.
 	 * @param bSource
@@ -378,36 +411,6 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 		}
 	}
 
-	/**
-	 * Start the Encoder. Starts counting pulses on the Encoder device.
-	 */
-	public void start() {
-		if (m_counter != null) {
-			m_counter.start();
-		} else {
-			ByteBuffer status = ByteBuffer.allocateDirect(4);
-			// set the byte order
-			status.order(ByteOrder.LITTLE_ENDIAN);
-			EncoderJNI.startEncoder(m_encoder, status.asIntBuffer());
-			HALUtil.checkStatus(status.asIntBuffer());
-		}
-	}
-
-	/**
-	 * Stops counting pulses on the Encoder device. The value is not changed.
-	 */
-	public void stop() {
-		if (m_counter != null) {
-			m_counter.stop();
-		} else {
-			ByteBuffer status = ByteBuffer.allocateDirect(4);
-			// set the byte order
-			status.order(ByteOrder.LITTLE_ENDIAN);
-			EncoderJNI.stopEncoder(m_encoder, status.asIntBuffer());
-			HALUtil.checkStatus(status.asIntBuffer());
-		}
-	}
-
 	/**
 	 * Gets the raw value from the encoder. The raw value is the actual count
 	 * unscaled by the 1x, 2x, or 4x scale factor.

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -125,7 +125,6 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
 		m_counter.setMaxPeriod(1.0);
 		m_counter.setSemiPeriodMode(true);
 		m_counter.reset();
-		m_counter.start();
 		m_enabled = true; // make it available for round robin scheduling
 		setAutomaticMode(originalMode);
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -29,23 +29,23 @@ import edu.wpi.first.wpilibj.test.TestBench;
 @RunWith(Parameterized.class)
 public class MotorEncoderTest extends AbstractComsSetup {
 	private static final Logger logger = Logger.getLogger(MotorEncoderTest.class.getName());
-	
+
 	private static final double MOTOR_RUNTIME = .25;
-	
+
 	//private static final List<MotorEncoderFixture> pairs = new ArrayList<MotorEncoderFixture>();
 	private static MotorEncoderFixture<?> me = null;
-	
+
 	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
-	
+
 	public MotorEncoderTest(MotorEncoderFixture<?> mef){
 		logger.fine("Constructor with: " + mef.getType());
 		if(me != null && !me.equals(mef)) me.teardown();
 		me = mef;
 	}
-	
+
 	@Parameters(name= "{index}: {0}")
 	public static Collection<MotorEncoderFixture<?>[]> generateData(){
 		//logger.fine("Loading the MotorList");
@@ -65,7 +65,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.setup();
 
 	}
-	
+
 	@After
 	public void tearDown() throws Exception {
 		me.reset();
@@ -76,7 +76,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		// Clean up the fixture after the test
 		me.teardown();
 	}
-	
+
 	/**
 	 * Test to ensure that the isMotorWithinRange method is functioning properly.
 	 * Really only needs to run on one MotorEncoderFixture to ensure that it is working correctly.
@@ -124,7 +124,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.reset();
 		encodersResetCheck(me);
 	}
-	
+
 	/**
 	 * This method test if the counters count when the motors rotate
 	 */
@@ -146,7 +146,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.reset();
 		encodersResetCheck(me);
 	}
-	
+
 	/**
 	 * Tests to see if you set the speed to something not <= 1.0 if the code appropriately throttles the value
 	 */
@@ -157,7 +157,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 				+ me.getMotor().get(), me.isMotorSpeedWithinRange(1.0, 0.001));
 		me.reset();
 	}
-	
+
 	/**
 	 * Tests to see if you set the speed to something not >= -1.0 if the code appropriately throttles the value
 	 */
@@ -168,8 +168,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
 				+ me.getMotor().get(), me.isMotorSpeedWithinRange(-1.0, 0.001));
 		me.reset();
 	}
-	
-	
+
+
 	@Test
 	public void testPIDController() {
 		PIDController pid = new PIDController(0.003, 0.001, 0, me.getEncoder(),
@@ -188,8 +188,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		pid.free();
 		me.reset();
 	}
-	
-	
+
+
 	/**
 	 * Checks to see if the encoders and counters are appropriately reset to zero when reset
 	 * @param me The MotorEncoderFixture under test
@@ -205,7 +205,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		assertTrue(me.getType() + " Motor value: " + motorVal + " when it should be 0", motorVal == 0);
 		assertTrue(me.getType() + " Counter value " + counterVal[0] + " when is should be 0", counterVal[0] == 0);
 		assertTrue(me.getType() + " Counter value " + counterVal[1] + " when is should be 0", counterVal[1] == 0);
-		Timer.delay(.1);
+		Timer.delay(.2);
 		assertTrue(me.getType() + " Encoder.getStopped() returned false", me.getEncoder().getStopped());
 	}
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java

@@ -70,7 +70,6 @@ public class FakeCounterFixture implements ITestFixture {
 	 */
 	@Override
 	public boolean setup() {
-		counter.start();
 		return true;
 		
 	}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java

@@ -81,7 +81,6 @@ public class FakeEncoderFixture implements ITestFixture {
 	 */
 	@Override
 	public boolean setup() {
-		m_encoder.start();
 		return true;
 	}
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java

@@ -76,15 +76,8 @@ public abstract class MotorEncoderFixture <T extends SpeedController> implements
 				encoder = new Encoder(aSource, bSource);
 				counters[0] = new Counter(aSource);
 				counters[1] = new Counter(bSource);
-				for(Counter c: counters){
-					c.start();
-				}
 				logger.fine("Creating the speed controller!");
 				motor = giveSpeedController(); //CANJaguar throws an exception if it doesn't get the message
-				
-					
-				
-				
 			}
 		}
 	}
@@ -92,7 +85,6 @@ public abstract class MotorEncoderFixture <T extends SpeedController> implements
 	@Override
 	public boolean setup() {
 		initialize();
-		encoder.start();
 		return true;
 	}
 

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/CounterBase.java

@@ -11,6 +11,9 @@ package edu.wpi.first.wpilibj;
  * Interface for counting the number of ticks on a digital input channel.
  * Encoders, Gear tooth sensors, and counters should all subclass this so it can be used to
  * build more advanced classes for control and driving.
+ *
+ * All counters will immediately start counting - reset() them if you need them
+ * to be zeroed before use.
  */
 public interface CounterBase {
 
@@ -44,11 +47,6 @@ public interface CounterBase {
         }
     }
 
-    /**
-     * Start the counter
-     */
-    public void start();
-
     /**
      * Get the count
      * @return the count
@@ -60,11 +58,6 @@ public interface CounterBase {
      */
     void reset();
 
-    /**
-     * Stop counting
-     */
-    void stop();
-
     /**
      * Get the time between the last two edges counted
      * @return the time beteween the last two ticks in seconds

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -21,6 +21,9 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
  * 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.
+ *
+ * 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 {
 	private int m_index;
@@ -37,6 +40,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * Common initialization code for Encoders. This code allocates resources
 	 * for Encoders and is common to all constructors.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param reverseDirection
 	 *            If true, counts down instead of up (this is all relative)
 	 * @param encodingType
@@ -65,11 +70,14 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 		impl = new SimEncoder("simulator/dio/"+aChannel+"/"+bChannel);
 		setDistancePerPulse(1);
 
+		impl.start();
 	}
 
 	/**
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -90,6 +98,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	/**
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -102,6 +112,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	/**
 	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 *
+	 * The encoder will start counting immediately.
+	 *
 	 * @param aChannel
 	 *            The a channel digital input channel.
 	 * @param bChannel
@@ -132,21 +144,6 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 
 	public void free() {}
 
-	/**
-	 * Start the Encoder.
-	 * Starts counting pulses on the Encoder device.
-	 */
-	public void start() {
-		impl.start();
-	}
-
-	/**
-	 * Stops counting pulses on the Encoder device. The value is not changed.
-	 */
-	public void stop() {
-		impl.stop();
-	}
-
 	/**
 	 * Reset the Encoder distance to zero.
 	 * Resets the current count to zero on the encoder.