Package edu.wpi.first.wpilibj.counter

Class Tachometer

java.lang.Object

edu.wpi.first.wpilibj.counter.Tachometer

All Implemented Interfaces:

Sendable, AutoCloseable

public class Tachometer
extends Object
implements Sendable, AutoCloseable

Tachometer.

The Tachometer class measures the time between digital pulses to determine the rotation speed of a mechanism. Examples of devices that could be used with the tachometer class are a hall effect sensor, break beam sensor, or optical sensor detecting tape on a shooter wheel. Unlike encoders, this class only needs a single digital input.

Constructor Summary

Constructors

Constructor	Description
Tachometer(DigitalSource source)	Constructs a new tachometer.

Method Summary

Modifier and Type	Method	Description
void	close()
int	getEdgesPerRevolution()	Gets the number of edges per revolution.
double	getFrequency()	Gets the tachometer frequency.
double	getPeriod()	Gets the tachometer period.
double	getRevolutionsPerMinute()	Gets the current tachometer revolutions per minute.
double	getRevolutionsPerSecond()	Gets the current tachometer revolutions per second.
int	getSamplesToAverage()	Gets the number of samples to average.
boolean	getStopped()	Gets if the tachometer is stopped.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	setEdgesPerRevolution(int edgesPerRevolution)	Sets the number of edges per revolution.
void	setMaxPeriod(double maxPeriod)	Sets the maximum period before the tachometer is considered stopped.
void	setSamplesToAverage(int samplesToAverage)	Sets the number of samples to average.
void	setUpdateWhenEmpty(boolean updateWhenEmpty)	Sets if to update when empty.

Methods inherited from class java.lang.Object

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

Constructor Details

Tachometer

public Tachometer(DigitalSource source)

Constructs a new tachometer.

Parameters:

source - The DigitalSource (e.g. DigitalInput) of the Tachometer.

Method Details

close

public void close() throws Exception

Specified by:

close in interface AutoCloseable

Throws:

Exception

getPeriod

public double getPeriod()

Gets the tachometer period.

Returns:

Current period (in seconds).

getFrequency

public double getFrequency()

Gets the tachometer frequency.

Returns:

Current frequency (in hertz).

getEdgesPerRevolution

public int getEdgesPerRevolution()

Gets the number of edges per revolution.

Returns:

Edges per revolution.

setEdgesPerRevolution

public void setEdgesPerRevolution(int edgesPerRevolution)

Sets the number of edges per revolution.

Parameters:

edgesPerRevolution - Edges per revolution.

getRevolutionsPerSecond

public double getRevolutionsPerSecond()

Gets the current tachometer revolutions per second.

setEdgesPerRevolution must be set with a non 0 value for this to return valid values.

Returns:

Current RPS.

getRevolutionsPerMinute

public double getRevolutionsPerMinute()

Gets the current tachometer revolutions per minute.

setEdgesPerRevolution must be set with a non 0 value for this to return valid values.

Returns:

Current RPM.

getStopped

public boolean getStopped()

Gets if the tachometer is stopped.

Returns:

True if the tachometer is stopped.

getSamplesToAverage

public int getSamplesToAverage()

Gets the number of samples to average.

Returns:

Samples to average.

setSamplesToAverage

public void setSamplesToAverage(int samplesToAverage)

Sets the number of samples to average.

Parameters:

samplesToAverage - Samples to average.

setMaxPeriod

public void setMaxPeriod(double maxPeriod)

Sets the maximum period before the tachometer is considered stopped.

Parameters:

maxPeriod - The max period (in seconds).

setUpdateWhenEmpty

public void setUpdateWhenEmpty(boolean updateWhenEmpty)

Sets if to update when empty.

Parameters:

updateWhenEmpty - Update when empty if true.

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