Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add methods to retreive the FPGA index for counters and encoders and return the encoding type as an integer

Browse Source 
Change-Id: Iaa4062ec124b968b27e7c812cc754032fcb354d2

Add methods to retrieve the FPGA index for counters and encoders and return the encoding type as an integer

Change-Id: If04dc291f39a9b331495d2b97a8b87d3ded71280
This commit is contained in:
Brad Miller
2014-12-30 17:36:12 -05:00
parent b94341a23e
commit fb7f5e9de8
9 changed files with 89 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -29,6 +29,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private int m_index;
private double m_distancePerPulse; // distance of travel for each encoder tick
private EncodingType m_encodingType = EncodingType.k4X;
private int m_encodingScale; // 1x, 2x, or 4x, per the encodingType
private boolean m_allocatedA;
private boolean m_allocatedB;
private boolean m_allocatedI;
@@ -56,6 +57,9 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private void initEncoder(int aChannel, int bChannel, boolean reverseDirection) {
m_distancePerPulse = 1.0;
m_pidSource = PIDSourceParameter.kDistance;
m_encodingScale = m_encodingType == EncodingType.k4X ? 4
: m_encodingType == EncodingType.k2X ? 2
: 1;
LiveWindow.addSensor("Encoder", aChannel, this);
@@ -142,6 +146,21 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
initEncoder(aChannel, bChannel, reverseDirection);
}
/**
* @return the Encoder's FPGA index
*/
public int getFPGAEncoderIndex() {
return m_index;
}
/**
* @return the encoding scale factor 1x, 2x, or 4x, per the requested
* encodingType. Used to divide raw edge counts down to spec'd counts.
*/
public int getEncodingScale() {
return m_encodingScale;
}
public void free() {}
/**