Package ftclib.sensor

Class FtcAnalogEncoder

java.lang.Object

ftclib.sensor.FtcAnalogEncoder

All Implemented Interfaces:

TrcEncoder

public class FtcAnalogEncoder
extends Object
implements TrcEncoder

This class implements an Analog Absolute Encoders that implements the TrcEncoder interface to allow compatibility to other types of encoders.

Field Summary

Fields

Modifier and Type	Field	Description
private final FtcAnalogInput	analogInput
private final String	instanceName
private double	offset
private double	scale
private double	sign
final TrcDbgTrace	tracer
private final TrcWrapValueConverter	wrapValueConverter
private double	zeroOffset

Constructor Summary

Constructors

Constructor	Description
FtcAnalogEncoder(String instanceName)	Constructor: Creates an instance of the object.
FtcAnalogEncoder(String instanceName, TrcFilter[] filters)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
double	getRawPosition()	This method reads the normalized analog input of the encoder.
double	getRawVelocity()	This method reads the raw encoder velocity in encoder units per second.
double	getRawVoltage()	This method reads the raw voltage from the analog input of the encoder.
double	getScaledPosition()	This method returns the encoder position adjusted by scale and offset.
double	getScaledVelocity()	This method returns the encoder velocity adjusted by scale.
boolean	isEnabled()	This method checks if the Cardinal Converter task is enabled.
boolean	isInverted()	This method checks if the encoder direction is inverted.
void	reset()	This method resets the encoder revolution counter (Cardinal Converter).
void	setEnabled(boolean enabled)	This method enables/disables the Wrap Value Converter task.
void	setInverted(boolean inverted)	This method reverses the direction of the encoder.
void	setScaleAndOffset(double scale, double offset, double zeroOffset)	This method sets the encoder scale and offset.

Methods inherited from class java.lang.Object

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

Field Details

tracer

public final TrcDbgTrace tracer

instanceName

private final String instanceName

analogInput

private final FtcAnalogInput analogInput

wrapValueConverter

private final TrcWrapValueConverter wrapValueConverter

sign

private double sign

scale

private double scale

offset

private double offset

zeroOffset

private double zeroOffset

Constructor Details

FtcAnalogEncoder

public FtcAnalogEncoder(String instanceName,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

filters - specifies an array of filter objects, one for each axis, to filter sensor data. If no filter is used, this can be set to null.

FtcAnalogEncoder

public FtcAnalogEncoder(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

setEnabled

public void setEnabled(boolean enabled)

This method enables/disables the Wrap Value Converter task.

Parameters:

enabled - specifies true to enable wrap value converter, false to disable.

isEnabled

public boolean isEnabled()

This method checks if the Cardinal Converter task is enabled.

Returns:

true if cardinal converter is enabled, false if disabled.

getRawVoltage

public double getRawVoltage()

This method reads the raw voltage from the analog input of the encoder.

Returns:

raw voltage of the analog encoder.

reset

public void reset()

This method resets the encoder revolution counter (Cardinal Converter).

Specified by:

reset in interface TrcEncoder

getRawPosition

public double getRawPosition()

This method reads the normalized analog input of the encoder.

Specified by:

getRawPosition in interface TrcEncoder

Returns:

normalized input of the encoder in the unit of percent rotation (0 to 1).

getScaledPosition

public double getScaledPosition()

This method returns the encoder position adjusted by scale and offset.

Specified by:

getScaledPosition in interface TrcEncoder

Returns:

encoder position adjusted by scale and offset.

getRawVelocity

public double getRawVelocity()

This method reads the raw encoder velocity in encoder units per second.

Specified by:

getRawVelocity in interface TrcEncoder

Returns:

raw encoder velocity in encoder units per second.

getScaledVelocity

public double getScaledVelocity()

This method returns the encoder velocity adjusted by scale.

Specified by:

getScaledVelocity in interface TrcEncoder

Returns:

encoder velocity adjusted by scale.

setInverted

public void setInverted(boolean inverted)

This method reverses the direction of the encoder.

Specified by:

setInverted in interface TrcEncoder

Parameters:

inverted - specifies true to reverse the encoder direction, false otherwise.

isInverted

public boolean isInverted()

This method checks if the encoder direction is inverted.

Specified by:

isInverted in interface TrcEncoder

Returns:

true if encoder direction is reversed, false otherwise.

setScaleAndOffset

public void setScaleAndOffset(double scale,
 double offset,
 double zeroOffset)

This method sets the encoder scale and offset.

Specified by:

setScaleAndOffset in interface TrcEncoder

Parameters:

scale - specifies the scale value.

offset - specifies the offset value.

zeroOffset - specifies the zero offset for absolute encoder.