Package edu.wpi.first.wpilibj.pidwrappers

Class PIDEncoder

java.lang.Object

edu.wpi.first.wpilibj.Encoder

edu.wpi.first.wpilibj.pidwrappers.PIDEncoder

All Implemented Interfaces:

Sendable, CounterBase, PIDSource, AutoCloseable

@Deprecated(since="2022",
            forRemoval=true)
public class PIDEncoder
extends Encoder
implements PIDSource

Deprecated, for removal: This API element is subject to removal in a future version.

Use PIDController which doesn't require this wrapper.

Wrapper so that PIDSource is implemented for Encoder for old PIDController.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.Encoder

Encoder.IndexingType

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.CounterBase

CounterBase.EncodingType

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.Encoder

m_aSource, m_bSource, m_indexSource

Constructor Summary

Constructors

Constructor	Description
PIDEncoder(int channelA, int channelB)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(int channelA, int channelB, boolean reverseDirection)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(int channelA, int channelB, boolean reverseDirection, CounterBase.EncodingType encodingType)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(int channelA, int channelB, int indexChannel)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(int channelA, int channelB, int indexChannel, boolean reverseDirection)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(DigitalSource sourceA, DigitalSource sourceB)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection, CounterBase.EncodingType encodingType)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource, boolean reverseDirection)	Deprecated, for removal: This API element is subject to removal in a future version.

Method Summary

Modifier and Type	Method	Description
PIDSourceType	getPIDSourceType()	Deprecated, for removal: This API element is subject to removal in a future version. Get which parameter of the device you are using as a process control variable.
double	pidGet()	Deprecated, for removal: This API element is subject to removal in a future version. Implement the PIDSource interface.
void	setPIDSourceType(PIDSourceType pidSource)	Deprecated, for removal: This API element is subject to removal in a future version. Set which parameter of the encoder you are using as a process control variable.

Methods inherited from class edu.wpi.first.wpilibj.Encoder

close, get, getDecodingScaleFactor, getDirection, getDistance, getDistancePerPulse, getEncodingScale, getFPGAIndex, getPeriod, getRate, getRaw, getSamplesToAverage, getStopped, initSendable, reset, setDistancePerPulse, setIndexSource, setIndexSource, setIndexSource, setIndexSource, setMaxPeriod, setMinRate, setReverseDirection, setSamplesToAverage, setSimDevice

Methods inherited from class java.lang.Object

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

Constructor Details

PIDEncoder

public PIDEncoder(int channelA, int channelB, boolean reverseDirection)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(int channelA, int channelB)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(int channelA, int channelB, boolean reverseDirection, CounterBase.EncodingType encodingType)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(int channelA, int channelB, int indexChannel, boolean reverseDirection)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(int channelA, int channelB, int indexChannel)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection, CounterBase.EncodingType encodingType)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource, boolean reverseDirection)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDEncoder

public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource)

Deprecated, for removal: This API element is subject to removal in a future version.

Method Details

setPIDSourceType

public void setPIDSourceType(PIDSourceType pidSource)

Deprecated, for removal: This API element is subject to removal in a future version.

Set which parameter of the encoder you are using as a process control variable. The encoder class supports the rate and distance parameters.

Specified by:

setPIDSourceType in interface PIDSource

Parameters:

pidSource - An enum to select the parameter.

getPIDSourceType

public PIDSourceType getPIDSourceType()

Deprecated, for removal: This API element is subject to removal in a future version.

Description copied from interface: PIDSource

Get which parameter of the device you are using as a process control variable.

Specified by:

getPIDSourceType in interface PIDSource

Returns:

the currently selected PID source parameter

pidGet

public double pidGet()

Deprecated, for removal: This API element is subject to removal in a future version.

Implement the PIDSource interface.

Specified by:

pidGet in interface PIDSource

Returns:

The current value of the selected source parameter.