Class DutyCycleEncoder

    • Constructor Detail

      • DutyCycleEncoder

        public DutyCycleEncoder​(int channel)
        Construct a new DutyCycleEncoder on a specific channel.
        Parameters:
        channel - the channel to attach to
      • DutyCycleEncoder

        public DutyCycleEncoder​(DutyCycle dutyCycle)
        Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
        Parameters:
        dutyCycle - the duty cycle to attach to
      • DutyCycleEncoder

        public DutyCycleEncoder​(DigitalSource source)
        Construct a new DutyCycleEncoder attached to a DigitalSource object.
        Parameters:
        source - the digital source to attach to
    • Method Detail

      • get

        public double get()
        Get the encoder value since the last reset.

        This is reported in rotations since the last reset.

        Returns:
        the encoder value in rotations
      • getPositionOffset

        public double getPositionOffset()
        Get the offset of position relative to the last reset.

        getPositionInRotation() - getPositionOffset() will give an encoder absolute position relative to the last reset. This could potentially be negative, which needs to be accounted for.

        Returns:
        the position offset
      • setDutyCycleRange

        public void setDutyCycleRange​(double min,
                                      double max)
        Set the encoder duty cycle range. As the encoder needs to maintain a duty cycle, the duty cycle cannot go all the way to 0% or all the way to 100%. For example, an encoder with a 4096 us period might have a minimum duty cycle of 1 us / 4096 us and a maximum duty cycle of 4095 / 4096 us. Setting the range will result in an encoder duty cycle less than or equal to the minimum being output as 0 rotation, the duty cycle greater than or equal to the maximum being output as 1 rotation, and values in between linearly scaled from 0 to 1.
        Parameters:
        min - minimum duty cycle (0-1 range)
        max - maximum duty cycle (0-1 range)
      • setDistancePerRotation

        public void setDistancePerRotation​(double distancePerRotation)
        Set the distance per rotation of the encoder. This sets the multiplier used to determine the distance driven based on the rotation value from the encoder. Set this value based on the how far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions following the encoder shaft. This distance can be in any units you like, linear or angular.
        Parameters:
        distancePerRotation - the distance per rotation of the encoder
      • getDistancePerRotation

        public double getDistancePerRotation()
        Get the distance per rotation for this encoder.
        Returns:
        The scale factor that will be used to convert rotation to useful units.
      • getDistance

        public double getDistance()
        Get the distance the sensor has driven since the last reset as scaled by the value from setDistancePerRotation(double).
        Returns:
        The distance driven since the last reset
      • getFrequency

        public int getFrequency()
        Get the frequency in Hz of the duty cycle signal from the encoder.
        Returns:
        duty cycle frequency in Hz
      • reset

        public void reset()
        Reset the Encoder distance to zero.
      • isConnected

        public boolean isConnected()
        Get if the sensor is connected

        This uses the duty cycle frequency to determine if the sensor is connected. By default, a value of 100 Hz is used as the threshold, and this value can be changed with setConnectedFrequencyThreshold(int).

        Returns:
        true if the sensor is connected
      • setConnectedFrequencyThreshold

        public void setConnectedFrequencyThreshold​(int frequency)
        Change the frequency threshold for detecting connection used by isConnected().
        Parameters:
        frequency - the minimum frequency in Hz.
      • getFPGAIndex

        public int getFPGAIndex()
        Get the FPGA index for the DutyCycleEncoder.
        Returns:
        the FPGA index
      • getSourceChannel

        public int getSourceChannel()
        Get the channel of the source.
        Returns:
        the source channel