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PJ Reiniger
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Peter Johnson
Peter Johnson
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369
wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java
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369
wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj.simulation;
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import edu.wpi.first.hal.simulation.EncoderDataJNI;
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import edu.wpi.first.hal.simulation.NotifyCallback;
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import edu.wpi.first.wpilibj.Encoder;
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import java.util.NoSuchElementException;
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/** Class to control a simulated encoder. */
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public class EncoderSim {
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private final int m_index;
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/**
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* Constructs from an Encoder object.
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*
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* @param encoder Encoder to simulate
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*/
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public EncoderSim(Encoder encoder) {
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m_index = encoder.getFPGAIndex();
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}
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private EncoderSim(int index) {
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m_index = index;
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}
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/**
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* Creates an EncoderSim for a digital input channel. Encoders take two channels, so either one
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* may be specified.
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*
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* @param channel digital input channel
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* @return Simulated object
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* @throws NoSuchElementException if no Encoder is configured for that channel
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*/
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public static EncoderSim createForChannel(int channel) {
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int index = EncoderDataJNI.findForChannel(channel);
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if (index < 0) {
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throw new NoSuchElementException("no encoder found for channel " + channel);
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}
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return new EncoderSim(index);
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}
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/**
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* Creates an EncoderSim for a simulated index. The index is incremented for each simulated
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* Encoder.
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*
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* @param index simulator index
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* @return Simulated object
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*/
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public static EncoderSim createForIndex(int index) {
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return new EncoderSim(index);
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}
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/**
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* Register a callback on the Initialized property of the encoder.
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*
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* @param callback the callback that will be called whenever the Initialized property is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelInitializedCallback);
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}
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/**
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* Read the Initialized value of the encoder.
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*
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* @return true if initialized
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*/
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public boolean getInitialized() {
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return EncoderDataJNI.getInitialized(m_index);
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}
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/**
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* Change the Initialized value of the encoder.
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*
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* @param initialized the new value
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*/
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public void setInitialized(boolean initialized) {
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EncoderDataJNI.setInitialized(m_index, initialized);
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}
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/**
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* Register a callback on the count property of the encoder.
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*
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* @param callback the callback that will be called whenever the count property is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerCountCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerCountCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelCountCallback);
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}
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/**
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* Read the count of the encoder.
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*
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* @return the count
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*/
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public int getCount() {
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return EncoderDataJNI.getCount(m_index);
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}
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/**
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* Change the count of the encoder.
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*
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* @param count the new count
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*/
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public void setCount(int count) {
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EncoderDataJNI.setCount(m_index, count);
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}
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/**
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* Register a callback on the period of the encoder.
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*
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* @param callback the callback that will be called whenever the period is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerPeriodCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerPeriodCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelPeriodCallback);
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}
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/**
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* Read the period of the encoder.
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*
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* @return the encoder period
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*/
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public double getPeriod() {
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return EncoderDataJNI.getPeriod(m_index);
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}
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/**
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* Change the encoder period.
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*
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* @param period the new period
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*/
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public void setPeriod(double period) {
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EncoderDataJNI.setPeriod(m_index, period);
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}
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/**
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* Register a callback to be called whenever the encoder is reset.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerResetCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerResetCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelResetCallback);
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}
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/**
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* Check if the encoder has been reset.
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*
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* @return true if reset
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*/
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public boolean getReset() {
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return EncoderDataJNI.getReset(m_index);
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}
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/**
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* Change the reset property of the encoder.
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*
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* @param reset the new value
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*/
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public void setReset(boolean reset) {
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EncoderDataJNI.setReset(m_index, reset);
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}
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/**
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* Register a callback to be run whenever the max period of the encoder is changed.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerMaxPeriodCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerMaxPeriodCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelMaxPeriodCallback);
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}
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/**
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* Get the max period of the encoder.
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*
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* @return the max period of the encoder
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*/
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public double getMaxPeriod() {
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return EncoderDataJNI.getMaxPeriod(m_index);
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}
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/**
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* Change the max period of the encoder.
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*
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* @param maxPeriod the new value
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*/
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public void setMaxPeriod(double maxPeriod) {
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EncoderDataJNI.setMaxPeriod(m_index, maxPeriod);
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}
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/**
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* Register a callback on the direction of the encoder.
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*
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* @param callback the callback that will be called whenever the direction is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerDirectionCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerDirectionCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelDirectionCallback);
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}
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/**
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* Get the direction of the encoder.
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*
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* @return the direction of the encoder
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*/
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public boolean getDirection() {
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return EncoderDataJNI.getDirection(m_index);
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}
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/**
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* Set the direction of the encoder.
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*
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* @param direction the new direction
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*/
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public void setDirection(boolean direction) {
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EncoderDataJNI.setDirection(m_index, direction);
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}
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/**
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* Register a callback on the reverse direction.
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*
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* @param callback the callback that will be called whenever the reverse direction is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerReverseDirectionCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerReverseDirectionCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelReverseDirectionCallback);
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}
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/**
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* Get the reverse direction of the encoder.
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*
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* @return the reverse direction of the encoder
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*/
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public boolean getReverseDirection() {
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return EncoderDataJNI.getReverseDirection(m_index);
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}
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/**
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* Set the reverse direction.
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*
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* @param reverseDirection the new value
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*/
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public void setReverseDirection(boolean reverseDirection) {
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EncoderDataJNI.setReverseDirection(m_index, reverseDirection);
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}
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/**
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* Register a callback on the samples-to-average value of this encoder.
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*
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* @param callback the callback that will be called whenever the samples-to-average is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerSamplesToAverageCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerSamplesToAverageCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelSamplesToAverageCallback);
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}
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/**
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* Get the samples-to-average value.
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*
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* @return the samples-to-average value
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*/
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public int getSamplesToAverage() {
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return EncoderDataJNI.getSamplesToAverage(m_index);
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}
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/**
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* Set the samples-to-average value.
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*
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* @param samplesToAverage the new value
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*/
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public void setSamplesToAverage(int samplesToAverage) {
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EncoderDataJNI.setSamplesToAverage(m_index, samplesToAverage);
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}
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/**
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* Register a callback on the distance per pulse value of this encoder.
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*
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* @param callback the callback that will be called whenever the distance per pulse is changed
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerDistancePerPulseCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = EncoderDataJNI.registerDistancePerPulseCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, EncoderDataJNI::cancelDistancePerPulseCallback);
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}
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/**
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* Get the distance per pulse value.
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*
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* @return the distance per pulse value
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*/
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public double getDistancePerPulse() {
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return EncoderDataJNI.getDistancePerPulse(m_index);
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}
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/**
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* Set the distance per pulse value.
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*
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* @param distancePerPulse the new distancePerPulse
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*/
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public void setDistancePerPulse(double distancePerPulse) {
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EncoderDataJNI.setDistancePerPulse(m_index, distancePerPulse);
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}
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/**
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* Change the encoder distance.
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*
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* @param distance the new distance
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*/
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public void setDistance(double distance) {
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EncoderDataJNI.setDistance(m_index, distance);
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}
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/**
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* Read the distance of the encoder.
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*
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* @return the encoder distance
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*/
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public double getDistance() {
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return EncoderDataJNI.getDistance(m_index);
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}
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/**
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* Change the rate of the encoder.
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*
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* @param rate the new rate
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*/
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public void setRate(double rate) {
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EncoderDataJNI.setRate(m_index, rate);
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}
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/**
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* Get the rate of the encoder.
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*
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* @return the rate of change
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*/
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public double getRate() {
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return EncoderDataJNI.getRate(m_index);
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}
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/** Resets all simulation data for this encoder. */
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public void resetData() {
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EncoderDataJNI.resetData(m_index);
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}
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}
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