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Encoder/Counter Fixes

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This fixes all encoder variants with the getRate and getPeriod methods.
The clock speed in the HAL was updated, as was the scaling factors for setting
the stall periods. A default of .5 seconds is now set for the max period.
Additionally, a long standing bug was fixed with Java 2x encoders.

Changed tests to take into account the increased default timeout on encoders

Change-Id: I8b54c07ea467154be94d7ae7e9ada1775933dee4
This commit is contained in:
Brad Miller
2014-12-23 19:47:23 -05:00
parent b4097fbd58
commit a55f34646d
6 changed files with 18 additions and 7 deletions
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8
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java
View File

@@ -86,6 +86,8 @@ public class Counter extends SensorBase implements CounterBase,
m_upSource = null;
m_downSource = null;
setMaxPeriod(.5);
UsageReporting.report(tResourceType.kResourceType_Counter, m_index,
mode.value);
}
@@ -166,12 +168,16 @@ public class Counter extends SensorBase implements CounterBase,
if (encodingType == null)
throw new NullPointerException("Encoding type given was null");
ByteBuffer status = ByteBuffer.allocateDirect(4);
if (encodingType == EncodingType.k1X) {
setUpSourceEdge(true, false);
CounterJNI.setCounterAverageSize(m_counter, 1, status.asIntBuffer());
} else {
setUpSourceEdge(true, true);
CounterJNI.setCounterAverageSize(m_counter, 2, status.asIntBuffer());
}
HALUtil.checkStatus(status.asIntBuffer());
setDownSourceEdge(inverted, true);
}
@@ -374,7 +380,7 @@ public class Counter extends SensorBase implements CounterBase,
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CounterJNI.setCounterDownSourceEdge(m_counter, (byte) (risingEdge ? 1
: 0), (byte) (fallingEdge ? 0 : 1), status.asIntBuffer());
: 0), (byte) (fallingEdge ? 1 : 0), status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}

5
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -94,6 +94,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
HALUtil.checkStatus(status.asIntBuffer());
m_index = index.asIntBuffer().get(0);
m_counter = null;
setMaxPeriod(.5);
break;
case EncodingType.k2X_val:
case EncodingType.k1X_val:
@@ -464,7 +465,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
public double getPeriod() {
double measuredPeriod;
if (m_counter != null) {
measuredPeriod = m_counter.getPeriod();
measuredPeriod = m_counter.getPeriod() / decodingScaleFactor();
} else {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
@@ -472,7 +473,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
measuredPeriod = EncoderJNI.getEncoderPeriod(m_encoder, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
return measuredPeriod / decodingScaleFactor();
return measuredPeriod;
}
/**