edu.wpi.first.wpilibj

Class GearTooth

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.Counter

edu.wpi.first.wpilibj.GearTooth

All Implemented Interfaces:

CounterBase, PIDSource, Sendable

public class GearTooth
extends Counter

Alias for counter class. Implement the gear tooth sensor supplied by FIRST. Currently there is no reverse sensing on the gear tooth sensor, but in future versions we might implement the necessary timing in the FPGA to sense direction.

Nested Class Summary

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

Counter.Mode

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

CounterBase.EncodingType

Field Summary

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

m_downSource, m_upSource

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
GearTooth(DigitalSource source) Construct a GearTooth sensor given a digital input.
GearTooth(DigitalSource source, boolean directionSensitive) Construct a GearTooth sensor given a digital input.
GearTooth(int channel) Construct a GearTooth sensor given a channel.
GearTooth(int channel, boolean directionSensitive) Construct a GearTooth sensor given a channel.

Method Summary

Modifier and Type	Method and Description
void	enableDirectionSensing(boolean directionSensitive) Common code called by the constructors.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.

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

clearDownSource, clearUpSource, free, get, getDirection, getDistance, getFPGAIndex, getPeriod, getPIDSourceType, getRate, getSamplesToAverage, getStopped, pidGet, reset, setDistancePerPulse, setDownSource, setDownSource, setDownSource, setDownSourceEdge, setExternalDirectionMode, setMaxPeriod, setPIDSourceType, setPulseLengthMode, setReverseDirection, setSamplesToAverage, setSemiPeriodMode, setUpdateWhenEmpty, setUpDownCounterMode, setUpSource, setUpSource, setUpSource, setUpSourceEdge

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

Constructor Detail

GearTooth

public GearTooth(int channel)

Construct a GearTooth sensor given a channel.

No direction sensing is assumed.

Parameters:

channel - The GPIO channel that the sensor is connected to.

GearTooth

public GearTooth(int channel,
                 boolean directionSensitive)

Construct a GearTooth sensor given a channel.

Parameters:

channel - The DIO channel that the sensor is connected to. 0-9 are on-board, 10-25 are on the MXP port

directionSensitive - True to enable the pulse length decoding in hardware to specify count direction.

GearTooth

public GearTooth(DigitalSource source,
                 boolean directionSensitive)

Construct a GearTooth sensor given a digital input. This should be used when sharing digital inputs.

Parameters:

source - An existing DigitalSource object (such as a DigitalInput)

directionSensitive - True to enable the pulse length decoding in hardware to specify count direction.

GearTooth

public GearTooth(DigitalSource source)

Construct a GearTooth sensor given a digital input. This should be used when sharing digital inputs.

No direction sensing is assumed.

Parameters:

source - An object that fully describes the input that the sensor is connected to.

Method Detail

enableDirectionSensing

public void enableDirectionSensing(boolean directionSensitive)

Common code called by the constructors.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class Counter

Parameters:

builder - sendable builder