org.firstinspires.ftc.teamcode.util

Class Encoder

java.lang.Object

org.firstinspires.ftc.teamcode.util.Encoder

public class Encoder
extends java.lang.Object

Wraps a motor instance to provide corrected velocity counts and allow reversing without changing the corresponding slot's motor direction

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Encoder.Direction

Field Summary

Fields

Modifier and Type	Field and Description
private com.acmerobotics.roadrunner.util.NanoClock	clock
private static int	CPS_STEP
private Encoder.Direction	direction
private int	lastPosition
private double	lastUpdateTime
private com.qualcomm.robotcore.hardware.DcMotorEx	motor
private double	velocityEstimate

Constructor Summary

Constructors

Constructor and Description
Encoder(com.qualcomm.robotcore.hardware.DcMotorEx motor)
Encoder(com.qualcomm.robotcore.hardware.DcMotorEx motor, com.acmerobotics.roadrunner.util.NanoClock clock)

Method Summary

Modifier and Type	Method and Description
double	getCorrectedVelocity()
int	getCurrentPosition()
Encoder.Direction	getDirection()
double	getRawVelocity()
private static double	inverseOverflow(double input, double estimate)
void	setDirection(Encoder.Direction direction) Allows you to set the direction of the counts and velocity without modifying the motor's direction state

Methods inherited from class java.lang.Object

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

Field Detail

CPS_STEP

private static final int CPS_STEP

See Also:

Constant Field Values

motor

private com.qualcomm.robotcore.hardware.DcMotorEx motor

clock

private com.acmerobotics.roadrunner.util.NanoClock clock

direction

private Encoder.Direction direction

lastPosition

private int lastPosition

velocityEstimate

private double velocityEstimate

lastUpdateTime

private double lastUpdateTime

Constructor Detail

Encoder

public Encoder(com.qualcomm.robotcore.hardware.DcMotorEx motor,
               com.acmerobotics.roadrunner.util.NanoClock clock)

Encoder

public Encoder(com.qualcomm.robotcore.hardware.DcMotorEx motor)

Method Detail

inverseOverflow

private static double inverseOverflow(double input,
                                      double estimate)

getDirection

public Encoder.Direction getDirection()

setDirection

public void setDirection(Encoder.Direction direction)

Allows you to set the direction of the counts and velocity without modifying the motor's direction state

Parameters:

direction - either reverse or forward depending on if encoder counts should be negated

getCurrentPosition

public int getCurrentPosition()

getRawVelocity

public double getRawVelocity()

getCorrectedVelocity

public double getCorrectedVelocity()