001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj;
006
007/**
008 * Interface for counting the number of ticks on a digital input channel. Encoders, Gear tooth
009 * sensors, and counters should all subclass this in order to build more advanced classes for
010 * control and driving.
011 *
012 * <p>All counters will immediately start counting - reset() them if you need them to be zeroed
013 * before use.
014 */
015public interface CounterBase {
016  /** The number of edges for the CounterBase to increment or decrement on. */
017  enum EncodingType {
018    /** Count only the rising edge. */
019    k1X(0),
020    /** Count both the rising and falling edge. */
021    k2X(1),
022    /** Count rising and falling on both channels. */
023    k4X(2);
024
025    public final int value;
026
027    EncodingType(int value) {
028      this.value = value;
029    }
030  }
031
032  /**
033   * Get the count.
034   *
035   * @return the count
036   */
037  int get();
038
039  /** Reset the count to zero. */
040  void reset();
041
042  /**
043   * Get the time between the last two edges counted.
044   *
045   * @return the time between the last two ticks in seconds
046   */
047  double getPeriod();
048
049  /**
050   * Set the maximum time between edges to be considered stalled.
051   *
052   * @param maxPeriod the maximum period in seconds
053   */
054  void setMaxPeriod(double maxPeriod);
055
056  /**
057   * Determine if the counter is not moving.
058   *
059   * @return true if the counter has not changed for the max period
060   */
061  boolean getStopped();
062
063  /**
064   * Determine which direction the counter is going.
065   *
066   * @return true for one direction, false for the other
067   */
068  boolean getDirection();
069}