BunyipsLib/org.murraybridgebunyips.bunyipslib/Encoder

Encoder

open class Encoder

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

Since

4.0.0

Constructors

Encoder

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

The encoder object for the motor.

Functions

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)

getPosition

open fun getPosition(): Int

getRawVelocity

open fun getRawVelocity(): Double

getVelocity

open fun getVelocity(): Double

reset

open fun reset()

Resets the encoder without having to stop the motor.

setDirection

open fun setDirection(direction: DcMotorSimple.Direction)

Sets the direction of the encoder to forward or reverse

useEncoderOverflowCorrection

open fun useEncoderOverflowCorrection()

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