edu.wpi.first.wpilibj

Class AnalogPotentiometer

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.AnalogPotentiometer

All Implemented Interfaces:

Potentiometer, PIDSource, Sendable

public class AnalogPotentiometer
extends SensorBase
implements Potentiometer, Sendable

Class for reading analog potentiometers. Analog potentiometers read in an analog voltage that corresponds to a position. The position is in whichever units you choose, by way of the scaling and offset constants passed to the constructor.

Field Summary

Fields

Modifier and Type	Field and Description
protected PIDSourceType	m_pidSource

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

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
AnalogPotentiometer(AnalogInput input) AnalogPotentiometer constructor.
AnalogPotentiometer(AnalogInput input, double scale) AnalogPotentiometer constructor.
AnalogPotentiometer(AnalogInput input, double fullRange, double offset) AnalogPotentiometer constructor.
AnalogPotentiometer(int channel) AnalogPotentiometer constructor.
AnalogPotentiometer(int channel, double scale) AnalogPotentiometer constructor.
AnalogPotentiometer(int channel, double fullRange, double offset) AnalogPotentiometer constructor.

Method Summary

Modifier and Type	Method and Description
void	free() Frees this resource.
double	get() Get the current reading of the potentiometer.
PIDSourceType	getPIDSourceType() Get which parameter of the device you are using as a process control variable.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
double	pidGet() Implement the PIDSource interface.
void	setPIDSourceType(PIDSourceType pidSource) Set which parameter of the device you are using as a process control variable.

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

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule

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

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Field Detail

m_pidSource

protected PIDSourceType m_pidSource

Constructor Detail

AnalogPotentiometer

public AnalogPotentiometer(int channel,
                           double fullRange,
                           double offset)

AnalogPotentiometer constructor.

Use the fullRange and offset values so that the output produces meaningful values. I.E: you have a 270 degree potentiometer and you want the output to be degrees with the halfway point as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway point after scaling is 135 degrees. This will calculate the result from the fullRange times the fraction of the supply voltage, plus the offset.

Parameters:

channel - The analog channel this potentiometer is plugged into.

fullRange - The scaling to multiply the fraction by to get a meaningful unit.

offset - The offset to add to the scaled value for controlling the zero value

AnalogPotentiometer

public AnalogPotentiometer(AnalogInput input,
                           double fullRange,
                           double offset)

AnalogPotentiometer constructor.

Use the fullRange and offset values so that the output produces meaningful values. I.E: you have a 270 degree potentiometer and you want the output to be degrees with the halfway point as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway point after scaling is 135 degrees. This will calculate the result from the fullRange times the fraction of the supply voltage, plus the offset.

Parameters:

input - The AnalogInput this potentiometer is plugged into.

fullRange - The scaling to multiply the fraction by to get a meaningful unit.

offset - The offset to add to the scaled value for controlling the zero value

AnalogPotentiometer

public AnalogPotentiometer(int channel,
                           double scale)

AnalogPotentiometer constructor.

Use the fullRange and offset values so that the output produces meaningful values. I.E: you have a 270 degree potentiometer and you want the output to be degrees with the halfway point as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway point after scaling is 135 degrees.

Parameters:

channel - The analog channel this potentiometer is plugged into.

scale - The scaling to multiply the voltage by to get a meaningful unit.

AnalogPotentiometer

public AnalogPotentiometer(AnalogInput input,
                           double scale)

AnalogPotentiometer constructor.

Use the fullRange and offset values so that the output produces meaningful values. I.E: you have a 270 degree potentiometer and you want the output to be degrees with the halfway point as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway point after scaling is 135 degrees.

Parameters:

input - The AnalogInput this potentiometer is plugged into.

scale - The scaling to multiply the voltage by to get a meaningful unit.

AnalogPotentiometer

public AnalogPotentiometer(int channel)

AnalogPotentiometer constructor.

Parameters:

channel - The analog channel this potentiometer is plugged into.

AnalogPotentiometer

public AnalogPotentiometer(AnalogInput input)

AnalogPotentiometer constructor.

Parameters:

input - The AnalogInput this potentiometer is plugged into.

Method Detail

get

public double get()

Get the current reading of the potentiometer.

Specified by:

get in interface Potentiometer

Returns:

The current position of the potentiometer.

setPIDSourceType

public void setPIDSourceType(PIDSourceType pidSource)

Description copied from interface: PIDSource

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

Specified by:

setPIDSourceType in interface PIDSource

Parameters:

pidSource - An enum to select the parameter.

getPIDSourceType

public PIDSourceType getPIDSourceType()

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()

Implement the PIDSource interface.

Specified by:

pidGet in interface PIDSource

Returns:

The current reading.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder

free

public void free()

Frees this resource.

Overrides:

free in class SendableBase