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

Change-Id: I11954bb5f66e54461455637d79013c1071f5d00f

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.