Package lib.custom.sensors

Class EncoderPair

java.lang.Object

lib.custom.sensors.EncoderPair

All Implemented Interfaces:

CustomEncoder, NativeDerivativeSensor

public class EncoderPair
extends Object
implements CustomEncoder

Amalgamates the data of several encoders for the purpose of controlling a single motion controller.

The amalgamation will be the average. Verify before using this class that all the encoders will be rotating in the same direction with the same rate (before setDistancePerTick).

Field Summary

Fields

Modifier and Type	Field	Description
protected static final double	DEFAULT_DISTANCE_TOLERANCE
protected static final double	DEFAULT_RATE_TOLERANCE

Constructor Summary

Constructors

Constructor	Description
EncoderPair(CustomEncoder encoder1, CustomEncoder encoder2)	Amalgamates the data of two encoders for the purpose of controlling a single motion controller.
EncoderPair(CustomEncoder encoder1, CustomEncoder encoder2, double distanceTolerance, double rateTolerance)	Amalgamates the data of two encoders for the purpose of controlling a single motion controller.

Method Summary

Modifier and Type	Method	Description
double	getDifference()
double	getDifferenceSafely()
boolean	getDirection()	Gets direction of most recent movement
boolean	getDirectionSafely()	Gets direction of most recent movement
double	getDistance()	Gets current distance
double	getDistancePerPulse()	Gets the distance per pulse
double	getDistanceSafely()	Gets current distance
double	getRate()	Gets rate
double	getRateDifference()
double	getRateDifferenceSafely()
double	getRateSafely()	Gets rate
boolean	getReverseDirection()	Get whether this entire encoder is inverted.
boolean	getStopped()	Returns true when stopped
boolean	getStoppedSafely()	Returns true when stopped
boolean	isInSync()
boolean	isInSyncSafely()
void	reset()	Resets the encoder
void	setDistancePerPulse(double distancePerPulse)	Sets the distance per pulse
void	setReverseDirection(boolean reverseDirection)	Sets the direction inversion of all encoder substituents.

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_DISTANCE_TOLERANCE

protected static final double DEFAULT_DISTANCE_TOLERANCE

See Also:

• Constant Field Values

DEFAULT_RATE_TOLERANCE

protected static final double DEFAULT_RATE_TOLERANCE

See Also:

• Constant Field Values

Constructor Details

EncoderPair

public EncoderPair(CustomEncoder encoder1,
 CustomEncoder encoder2,
 double distanceTolerance,
 double rateTolerance)

Amalgamates the data of two encoders for the purpose of controlling a single motion controller.

The amalgamation will be the average. Verify before using this class that all the encoders will be rotating in the same direction with the same rate (before setDistancePerTick).

Parameters:

encoder1 - The first encoder to amalgamate.

encoder2 - The second encoder to amalgamate.

distanceTolerance - The distance by which the encoders can be different before isInSync() returns false

rateTolerance - The rate by which the encoders can be different before isInSync() returns false

EncoderPair

public EncoderPair(CustomEncoder encoder1,
 CustomEncoder encoder2)

Amalgamates the data of two encoders for the purpose of controlling a single motion controller.

The amalgamation will be the average. Verify before using this class that all the encoders will be rotating in the same direction with the same rate (before setDistancePerTick).

Parameters:

encoder1 - The first encoder to amalgamate.

encoder2 - The second encoder to amalgamate.

Method Details

getDistanceSafely

public double getDistanceSafely()
                         throws InvalidSensorException

Description copied from interface: CustomEncoder

Gets current distance

Specified by:

getDistanceSafely in interface CustomEncoder

Throws:

InvalidSensorException

getDistance

public double getDistance()

Description copied from interface: CustomEncoder

Gets current distance

does not indicate sensor errors

Specified by:

getDistance in interface CustomEncoder

getDirection

public boolean getDirection()

Description copied from interface: CustomEncoder

Gets direction of most recent movement

does not indicate sensor errors

Specified by:

getDirection in interface CustomEncoder

getDirectionSafely

public boolean getDirectionSafely()
                           throws InvalidSensorException

Description copied from interface: CustomEncoder

Gets direction of most recent movement

Specified by:

getDirectionSafely in interface CustomEncoder

Throws:

InvalidSensorException

getStopped

public boolean getStopped()

Description copied from interface: CustomEncoder

Returns true when stopped

does not indicate sensor errors

Specified by:

getStopped in interface CustomEncoder

getStoppedSafely

public boolean getStoppedSafely()
                         throws InvalidSensorException

Description copied from interface: CustomEncoder

Returns true when stopped

Specified by:

getStoppedSafely in interface CustomEncoder

Throws:

InvalidSensorException

getRateSafely

public double getRateSafely()
                     throws InvalidSensorException

Description copied from interface: NativeDerivativeSensor

Gets rate

Specified by:

getRateSafely in interface NativeDerivativeSensor

Throws:

InvalidSensorException

getRate

public double getRate()

Description copied from interface: NativeDerivativeSensor

Gets rate

does not indicate sensor errors

Specified by:

getRate in interface NativeDerivativeSensor

getReverseDirection

public boolean getReverseDirection()

Get whether this entire encoder is inverted.

Specified by:

getReverseDirection in interface CustomEncoder

Returns:

isInverted The state of inversion, true is inverted.

setReverseDirection

public void setReverseDirection(boolean reverseDirection)

Sets the direction inversion of all encoder substituents. This respects the original inversion state of each encoder when constructed, and will only invert encoders if this.getReverseDirection() != the input.

Specified by:

setReverseDirection in interface CustomEncoder

Parameters:

reverseDirection - The state of inversion, true is inverted.

getDistancePerPulse

public double getDistancePerPulse()

Description copied from interface: CustomEncoder

Gets the distance per pulse

Specified by:

getDistancePerPulse in interface CustomEncoder

setDistancePerPulse

public void setDistancePerPulse(double distancePerPulse)

Description copied from interface: CustomEncoder

Sets the distance per pulse

Specified by:

setDistancePerPulse in interface CustomEncoder

reset

public void reset()

Description copied from interface: CustomEncoder

Resets the encoder

Specified by:

reset in interface CustomEncoder

getDifference

public double getDifference()

getDifferenceSafely

public double getDifferenceSafely()
                           throws InvalidSensorException

Throws:

InvalidSensorException

getRateDifference

public double getRateDifference()

getRateDifferenceSafely

public double getRateDifferenceSafely()
                               throws InvalidSensorException

Throws:

InvalidSensorException

isInSync

public boolean isInSync()

isInSyncSafely

public boolean isInSyncSafely()
                       throws InvalidSensorException

Throws:

InvalidSensorException