edu.wpi.first.wpilibj

Interface CounterBase

All Known Implementing Classes:

Counter, Encoder, GearTooth

public interface CounterBase

Interface 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.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	CounterBase.EncodingType The number of edges for the counterbase to increment or decrement on.

Method Summary

Modifier and Type	Method and Description
int	get() Get the count.
boolean	getDirection() Determine which direction the counter is going.
double	getPeriod() Get the time between the last two edges counted.
boolean	getStopped() Determine if the counter is not moving.
void	reset() Reset the count to zero.
void	setMaxPeriod(double maxPeriod) Set the maximum time between edges to be considered stalled.

Method Detail

get

int get()

Get the count.

Returns:

the count

reset

void reset()

Reset the count to zero.

getPeriod

double getPeriod()

Get the time between the last two edges counted.

Returns:

the time beteween the last two ticks in seconds

setMaxPeriod

void setMaxPeriod(double maxPeriod)

Set the maximum time between edges to be considered stalled.

Parameters:

maxPeriod - the maximum period in seconds

getStopped

boolean getStopped()

Determine if the counter is not moving.

Returns:

true if the counter has not changed for the max period

getDirection

boolean getDirection()

Determine which direction the counter is going.

Returns:

true for one direction, false for the other