BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.logic/Encoder

Encoder

open class Encoder

Represents a motor or external encoder that takes in suppliers of position and velocity to calculate encoder ticks. The velocity methods of this class have been adjusted to include acceleration and corrected velocity receivers.

This class uses an internal accumulator to determine the current position of the encoder, allowing for the current position to be asserted by the end user.

Author

Lucas Bubner, 2024

Since

4.0.0

See also

RawEncoder

RawEncoder - used in drivebases and for RoadRunner

Constructors

constructor(@NonNull position: Supplier<Integer>, @NonNull velocity: Supplier<Double>)

The encoder object for some positional and velocity supplier.

Properties

open var direction: DcMotorSimple.Direction

Functions

open fun clearCache()

Clears the cache when in setCaching mode, allowing a new read to come in for velocity and position.

getAcceleration

open fun getAcceleration(): Double

getCorrectedVelocity

open fun getCorrectedVelocity(): Double

Gets the current encoder velocity while also correcting for velocity overflow (REV hardware limitation workaround)

open fun getPosition(): Int

open fun getRawVelocity(): Double

open fun getVelocity(): Double

open fun reset()

Resets the encoder without having to adjust output speed.

setAccelLowPassGain

open fun setAccelLowPassGain(gain: Double)

Set a new Low Pass filter gain for use with acceleration estimation readings.

open fun setCaching(useCache: Boolean)

Whether to cache readings such that calling a getter will cache the last known value until clearCache is called.

setKnownPosition

open fun setKnownPosition(position: Int)

Sets the current (known) position of the encoder to this value.

open fun trackDirection(@NonNull supplier: Supplier<DcMotorSimple.Direction>)

Set a supplier that will be used to auto-set encoder direction.

useEncoderOverflowCorrection

open fun useEncoderOverflowCorrection()

Call to use encoder overflow (exceeding 32767 ticks/sec) correction on getVelocity.