Package edu.wpi.first.wpilibj
Interface CounterBase
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public interface CounterBaseInterface for counting the number of ticks on a digital input channel. Encoders, Gear tooth sensors, and counters should all subclass this so it can be used to build more advanced classes for control and driving.All counters will immediately start counting - reset() them if you need them to be zeroed before use.
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Nested Class Summary
Nested Classes Modifier and Type Interface Description static classCounterBase.EncodingTypeThe number of edges for the counterbase to increment or decrement on.
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Method Summary
All Methods Instance Methods Abstract Methods Modifier and Type Method Description intget()Get the count.booleangetDirection()Determine which direction the counter is going.doublegetPeriod()Get the time between the last two edges counted.booleangetStopped()Determine if the counter is not moving.voidreset()Reset the count to zero.voidsetMaxPeriod(double maxPeriod)Set the maximum time between edges to be considered stalled.
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Method Detail
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get
int get()
Get the count.- Returns:
- the count
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reset
void reset()
Reset the count to zero.
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getPeriod
double getPeriod()
Get the time between the last two edges counted.- Returns:
- the time between the last two ticks in seconds
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setMaxPeriod
void setMaxPeriod(double maxPeriod)
Set the maximum time between edges to be considered stalled.- Parameters:
maxPeriod- the maximum period in seconds
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getStopped
boolean getStopped()
Determine if the counter is not moving.- Returns:
- true if the counter has not changed for the max period
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getDirection
boolean getDirection()
Determine which direction the counter is going.- Returns:
- true for one direction, false for the other
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