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Add encoder indexing in Java

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Change-Id: I7d6a7da4301703aafab9d63ce67b6c88c62647c9
This commit is contained in:
Thomas Clark
2015-01-08 00:23:32 -05:00
parent a2dfffeddc
commit e13720bb94
3 changed files with 79 additions and 1 deletions
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56
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java
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@@ -33,6 +33,9 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
* to be zeroed before use.
*/
public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveWindowSendable {
public enum IndexingType {
kResetWhileHigh, kResetWhileLow, kResetOnFallingEdge, kResetOnRisingEdge
}
/**
* The a source
@@ -727,6 +730,59 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
}
}
/**
* Set the index source for the encoder. When this source rises, the encoder count automatically resets.
*
* @param channel A DIO channel to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(int channel, IndexingType type) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean activeHigh = (type == IndexingType.kResetWhileHigh) || (type == IndexingType.kResetOnRisingEdge);
boolean edgeSensitive = (type == IndexingType.kResetOnFallingEdge) || (type == IndexingType.kResetOnRisingEdge);
EncoderJNI.setEncoderIndexSource(m_encoder, channel, false, activeHigh, edgeSensitive, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
* Set the index source for the encoder. When this source is activated, the encoder count automatically resets.
*
* @param channel A DIO channel to set as the encoder index
*/
public void setIndexSource(int channel) {
this.setIndexSource(channel, IndexingType.kResetOnRisingEdge);
}
/**
* Set the index source for the encoder. When this source rises, the encoder count automatically resets.
*
* @param source A digital source to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(DigitalSource source, IndexingType type) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean activeHigh = (type == IndexingType.kResetWhileHigh) || (type == IndexingType.kResetOnRisingEdge);
boolean edgeSensitive = (type == IndexingType.kResetOnFallingEdge) || (type == IndexingType.kResetOnRisingEdge);
EncoderJNI.setEncoderIndexSource(m_encoder, source.getChannelForRouting(), source.getAnalogTriggerForRouting(),
activeHigh, edgeSensitive, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
* Set the index source for the encoder. When this source is activated, the encoder count automatically resets.
*
* @param source A digital source to set as the encoder index
*/
public void setIndexSource(DigitalSource source) {
this.setIndexSource(source, IndexingType.kResetOnRisingEdge);
}
/*
* Live Window code, only does anything if live window is activated.
*/

1
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
View File

@@ -15,4 +15,5 @@ public class EncoderJNI extends JNIWrapper {
public static native void setEncoderReverseDirection(ByteBuffer encoder_pointer, byte reverseDirection, IntBuffer status);
public static native void setEncoderSamplesToAverage(ByteBuffer encoder_pointer, int samplesToAverage, IntBuffer status);
public static native int getEncoderSamplesToAverage(ByteBuffer encoder_pointer, IntBuffer status);
public static native void setEncoderIndexSource(ByteBuffer digital_port, int pin, boolean analogTrigger, boolean activeHigh, boolean edgeSensitive, IntBuffer status);
}