Package edu.wpi.first.wpilibj.simulation

Class EncoderSim

java.lang.Object
edu.wpi.first.wpilibj.simulation.EncoderSim
public class EncoderSim
extends Object
Class to control a simulated encoder.

  • Constructor Details

  • Method Details

    • createForChannel

      public static EncoderSim createForChannel​(int channel)
      Creates an EncoderSim for a digital input channel. Encoders take two channels, so either one may be specified.
      Parameters:
      channel - digital input channel
      Returns:
      Simulated object
      Throws:
      NoSuchElementException - if no Encoder is configured for that channel

    • createForIndex

      public static EncoderSim createForIndex​(int index)
      Creates an EncoderSim for a simulated index. The index is incremented for each simulated Encoder.
      Parameters:
      index - simulator index
      Returns:
      Simulated object

    • registerInitializedCallback

      public CallbackStore registerInitializedCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the Initialized property of the encoder.
      Parameters:
      callback - the callback that will be called whenever the Initialized property is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getInitialized

      public boolean getInitialized()
      Read the Initialized value of the encoder.
      Returns:
      true if initialized

    • setInitialized

      public void setInitialized​(boolean initialized)
      Change the Initialized value of the encoder.
      Parameters:
      initialized - the new value

    • registerCountCallback

      public CallbackStore registerCountCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the count property of the encoder.
      Parameters:
      callback - the callback that will be called whenever the count property is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getCount

      public int getCount()
      Read the count of the encoder.
      Returns:
      the count

    • setCount

      public void setCount​(int count)
      Change the count of the encoder.
      Parameters:
      count - the new count

    • registerPeriodCallback

      public CallbackStore registerPeriodCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the period of the encoder.
      Parameters:
      callback - the callback that will be called whenever the period is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getPeriod

      public double getPeriod()
      Read the period of the encoder.
      Returns:
      the encoder period

    • setPeriod

      public void setPeriod​(double period)
      Change the encoder period.
      Parameters:
      period - the new period

    • registerResetCallback

      public CallbackStore registerResetCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback to be called whenever the encoder is reset.
      Parameters:
      callback - the callback
      initialNotify - whether to run the callback on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getReset

      public boolean getReset()
      Check if the encoder has been reset.
      Returns:
      true if reset

    • setReset

      public void setReset​(boolean reset)
      Change the reset property of the encoder.
      Parameters:
      reset - the new value

    • registerMaxPeriodCallback

      public CallbackStore registerMaxPeriodCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the max period of the encoder is changed.
      Parameters:
      callback - the callback
      initialNotify - whether to run the callback on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getMaxPeriod

      public double getMaxPeriod()
      Get the max period of the encoder.
      Returns:
      the max period of the encoder

    • setMaxPeriod

      public void setMaxPeriod​(double maxPeriod)
      Change the max period of the encoder.
      Parameters:
      maxPeriod - the new value

    • registerDirectionCallback

      public CallbackStore registerDirectionCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the direction of the encoder.
      Parameters:
      callback - the callback that will be called whenever the direction is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getDirection

      public boolean getDirection()
      Get the direction of the encoder.
      Returns:
      the direction of the encoder

    • setDirection

      public void setDirection​(boolean direction)
      Set the direction of the encoder.
      Parameters:
      direction - the new direction

    • registerReverseDirectionCallback

      public CallbackStore registerReverseDirectionCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the reverse direction.
      Parameters:
      callback - the callback that will be called whenever the reverse direction is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getReverseDirection

      public boolean getReverseDirection()
      Get the reverse direction of the encoder.
      Returns:
      the reverse direction of the encoder

    • setReverseDirection

      public void setReverseDirection​(boolean reverseDirection)
      Set the reverse direction.
      Parameters:
      reverseDirection - the new value

    • registerSamplesToAverageCallback

      public CallbackStore registerSamplesToAverageCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the samples-to-average value of this encoder.
      Parameters:
      callback - the callback that will be called whenever the samples-to-average is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getSamplesToAverage

      public int getSamplesToAverage()
      Get the samples-to-average value.
      Returns:
      the samples-to-average value

    • setSamplesToAverage

      public void setSamplesToAverage​(int samplesToAverage)
      Set the samples-to-average value.
      Parameters:
      samplesToAverage - the new value

    • registerDistancePerPulseCallback

      public CallbackStore registerDistancePerPulseCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback on the distance per pulse value of this encoder.
      Parameters:
      callback - the callback that will be called whenever the distance per pulse is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getDistancePerPulse

      public double getDistancePerPulse()
      Get the distance per pulse value.
      Returns:
      the distance per pulse value

    • setDistancePerPulse

      public void setDistancePerPulse​(double samplesToAverage)
      Set the distance per pulse value.
      Parameters:
      samplesToAverage - the new value

    • setDistance

      public void setDistance​(double distance)
      Change the encoder distance.
      Parameters:
      distance - the new distance

    • getDistance

      public double getDistance()
      Read the distance of the encoder.
      Returns:
      the encoder distance

    • setRate

      public void setRate​(double rate)
      Change the rate of the encoder.
      Parameters:
      rate - the new rate

    • getRate

      public double getRate()
      Get the rate of the encoder.
      Returns:
      the rate of change

    • resetData

      public void resetData()
      Resets all simulation data for this encoder.