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wpilibj/src/main/java/org/wpilib/counter/Tachometer.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.counter;
+
+import edu.wpi.first.hal.CounterJNI;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+
+/**
+ * Tachometer.
+ *
+ * <p>The Tachometer class measures the time between digital pulses to determine the rotation speed
+ * of a mechanism. Examples of devices that could be used with the tachometer class are a hall
+ * effect sensor, break beam sensor, or optical sensor detecting tape on a shooter wheel. Unlike
+ * encoders, this class only needs a single digital input.
+ */
+public class Tachometer implements Sendable, AutoCloseable {
+  private final int m_handle;
+  private int m_edgesPerRevolution = 1;
+
+  /**
+   * Constructs a new tachometer.
+   *
+   * @param channel The channel of the Tachometer.
+   * @param configuration The edge configuration
+   */
+  @SuppressWarnings("this-escape")
+  public Tachometer(int channel, EdgeConfiguration configuration) {
+    m_handle = CounterJNI.initializeCounter(channel, configuration.rising);
+
+    HAL.reportUsage("IO", channel, "Tachometer");
+    SendableRegistry.add(this, "Tachometer", channel);
+  }
+
+  @Override
+  public void close() {
+    SendableRegistry.remove(this);
+    CounterJNI.freeCounter(m_handle);
+  }
+
+  /**
+   * Gets the tachometer period.
+   *
+   * @return Current period (in seconds).
+   */
+  public double getPeriod() {
+    return CounterJNI.getCounterPeriod(m_handle);
+  }
+
+  /**
+   * Gets the tachometer frequency.
+   *
+   * @return Current frequency (in hertz).
+   */
+  public double getFrequency() {
+    double period = getPeriod();
+    if (period == 0) {
+      return 0;
+    }
+    return 1 / period;
+  }
+
+  /**
+   * Gets the number of edges per revolution.
+   *
+   * @return Edges per revolution.
+   */
+  public int getEdgesPerRevolution() {
+    return m_edgesPerRevolution;
+  }
+
+  /**
+   * Sets the number of edges per revolution.
+   *
+   * @param edgesPerRevolution Edges per revolution.
+   */
+  public void setEdgesPerRevolution(int edgesPerRevolution) {
+    m_edgesPerRevolution = edgesPerRevolution;
+  }
+
+  /**
+   * 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 RPS.
+   */
+  public double getRevolutionsPerSecond() {
+    double period = getPeriod();
+    if (period == 0) {
+      return 0;
+    }
+    int edgesPerRevolution = getEdgesPerRevolution();
+    if (edgesPerRevolution == 0) {
+      return 0;
+    }
+    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;
+  }
+
+  /**
+   * Gets if the tachometer is stopped.
+   *
+   * @return True if the tachometer is stopped.
+   */
+  public boolean getStopped() {
+    return CounterJNI.getCounterStopped(m_handle);
+  }
+
+  /**
+   * Sets the maximum period before the tachometer is considered stopped.
+   *
+   * @param maxPeriod The max period (in seconds).
+   */
+  public void setMaxPeriod(double maxPeriod) {
+    CounterJNI.setCounterMaxPeriod(m_handle, maxPeriod);
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Tachometer");
+    builder.addDoubleProperty("RPS", this::getRevolutionsPerSecond, null);
+    builder.addDoubleProperty("RPM", this::getRevolutionsPerMinute, null);
+  }
+}