Class AnalogEncoder

    • Constructor Detail

      • AnalogEncoder

        public AnalogEncoder​(int channel)
        Construct a new AnalogEncoder attached to a specific AnalogIn channel.
        Parameters:
        channel - the analog input channel to attach to
      • AnalogEncoder

        public AnalogEncoder​(AnalogInput analogInput)
        Construct a new AnalogEncoder attached to a specific AnalogInput.
        Parameters:
        analogInput - the analog input 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
      • 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
      • getChannel

        public int getChannel()
        Get the channel number.
        Returns:
        The channel number.
      • reset

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