BunyipsLib/org.murraybridgebunyips.bunyipslib/EncoderTicks/Generator

Generator

class Generator(motor: DcMotor, ticksPerRevolution: Int, reduction: Double, wheelDiameter: Measure<Distance>?)

Dynamic generator for encoder tick conversions based on a motor.

Constructors

Generator

constructor(motor: DcMotor, ticksPerRevolution: Int, reduction: Double, wheelDiameter: Measure<Distance>?)

Functions

angle

fun angle(ticks: Int): Measure<Angle>

Get an angle from the provided encoder ticks.

distance

fun distance(ticks: Int): Measure<Distance>?

Get a distance from the provided encoder ticks.

getAcceleration

fun getAcceleration(): Measure<Velocity<Velocity<Distance>>>?

Get the current encoder acceleration in a distance. Note that the motor attached to this generator must be an instance of Motor, or an exception will be thrown.

getAngle

fun getAngle(): Measure<Angle>

Get the current encoder ticks in an angle.

getAngularAcceleration

fun getAngularAcceleration(): Measure<Velocity<Velocity<Angle>>>

Get the angular acceleration of the encoder. Note that the motor attached to this generator must be an instance of Motor, or an exception will be thrown.

getAngularVelocity

fun getAngularVelocity(): Measure<Velocity<Angle>>

Get the angular velocity of the encoder.

getDistance

fun getDistance(): Measure<Distance>?

Get the current encoder ticks in a distance.

getVelocity

fun getVelocity(): Measure<Distance>?

Get the current encoder velocity in a distance.

ticks

fun ticks(angle: Measure<Angle>): Int

Get encoder ticks from the provided angle.

fun ticks(distance: Measure<Distance>): Int?

Get encoder ticks from the provided distance.