Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Tachometer: Add function to return RPS (#3833)

Browse Source
This commit is contained in:
Oblarg
2021-12-26 18:52:18 -05:00
committed by GitHub
parent 84b15f0883
commit baacbc8e24
5 changed files with 77 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java
View File

@@ -99,13 +99,13 @@ public class Tachometer implements Sendable, AutoCloseable {
}
/**
* Gets the current tachometer revolution per minute.
* Gets the current tachometer revolutions per second.
*
* <p>setEdgesPerRevolution must be set with a non 0 value for this to return valid values.
*
* @return Current RPM.
* @return Current RPS.
*/
public double getRevolutionsPerMinute() {
public double getRevolutionsPerSecond() {
double period = getPeriod();
if (period == 0) {
return 0;
@@ -114,7 +114,18 @@ public class Tachometer implements Sendable, AutoCloseable {
if (edgesPerRevolution == 0) {
return 0;
}
return ((1.0 / edgesPerRevolution) / period) * 60;
return (1.0 / edgesPerRevolution) / period;
}
/**
* Gets the current tachometer revolutions per minute.
*
* <p>setEdgesPerRevolution must be set with a non 0 value for this to return valid values.
*
* @return Current RPM.
*/
public double getRevolutionsPerMinute() {
return getRevolutionsPerSecond() * 60;
}
/**
@@ -165,6 +176,7 @@ public class Tachometer implements Sendable, AutoCloseable {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Tachometer");
builder.addDoubleProperty("RPS", this::getRevolutionsPerSecond, null);
builder.addDoubleProperty("RPM", this::getRevolutionsPerMinute, null);
}
}