io.github.thunderbots.lightning.hardware

Class Motor.Encoder

java.lang.Object

io.github.thunderbots.lightning.hardware.Motor.Encoder

Enclosing class:

Motor

public class Motor.Encoder
extends java.lang.Object

An Encoder represents a physical encoder that is attached to a specific motor.

Author:

Zach Ohara, Pranav Mathur

Field Summary

Fields

Modifier and Type	Field and Description
private static double	DEFAULT_TICKS_PER_INCH The default number of encoder ticks that measure one inch on the circumference of the wheel.
private static double	DEFAULT_TICKS_PER_REVOLUTION The default number of encoder ticks that measure exactly one full rotation of the motor.
private double	ticksPerInch The number of encoder ticks that measure one inch on the circumference of the wheel.
private double	ticksPerRevolution The number of encoder ticks that measure exactly one full rotation of the motor.
private int	zeroPoint The value that should be considered 'zero' on the encoder.

Constructor Summary

Constructors

Constructor and Description
Encoder() Constructs a new encoder that is bound to the motor in which it is constructed.

Method Summary

Modifier and Type	Method and Description
double	getInches() Gets the current position of the encoder, converted to inches on the wheel circumference.
int	getPosition() Gets the current position of the encoder.
double	getRevolutions() Gets the current position of the encoder with respect to the zero point, converted to revolutions of the motor.
void	reset() Resets this encoder.
void	setTicksPerInch(double ticks) Sets the number of encoder ticks that measure one inch on the circumference of the wheel.
void	setTicksPerRevolution(double ticks) Sets the number of encoder ticks that measure exactly one full rotation of the motor.
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

zeroPoint

private int zeroPoint

The value that should be considered 'zero' on the encoder.

ticksPerRevolution

private double ticksPerRevolution

The number of encoder ticks that measure exactly one full rotation of the motor.

ticksPerInch

private double ticksPerInch

The number of encoder ticks that measure one inch on the circumference of the wheel.

DEFAULT_TICKS_PER_REVOLUTION

private static final double DEFAULT_TICKS_PER_REVOLUTION

The default number of encoder ticks that measure exactly one full rotation of the motor.

See Also:

Constant Field Values

DEFAULT_TICKS_PER_INCH

private static final double DEFAULT_TICKS_PER_INCH

The default number of encoder ticks that measure one inch on the circumference of the wheel.

See Also:

Constant Field Values

Constructor Detail

Encoder

public Encoder()

Constructs a new encoder that is bound to the motor in which it is constructed.

Method Detail

reset

public void reset()

Resets this encoder. If getPosition() is called immediately after this method, it will return zero.

getPosition

public int getPosition()

Gets the current position of the encoder. More formally, this returns the difference between the current position and the position when the encoder was last reset.

Returns:

the current position of the encoder.

getRevolutions

public double getRevolutions()

Gets the current position of the encoder with respect to the zero point, converted to revolutions of the motor.

Returns:

the current position of the encoder, in revolutions.

getInches

public double getInches()

Gets the current position of the encoder, converted to inches on the wheel circumference.

Returns:

the current position of the encoder, in inches.

setTicksPerRevolution

public void setTicksPerRevolution(double ticks)

Sets the number of encoder ticks that measure exactly one full rotation of the motor.

Parameters:

ticks - the encoder ticks that measure exactly one full rotation of the motor.

See Also:

ticksPerRevolution

setTicksPerInch

public void setTicksPerInch(double ticks)

Sets the number of encoder ticks that measure one inch on the circumference of the wheel.

Parameters:

ticks - the encoder ticks that measure one inch on the circumference of the wheel.

See Also:

ticksPerInch

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object