Command/com.amarcolini.joos.hardware/Motor/Encoder

Encoder

public final class Encoder

A wrapper for motor encoders in the FTC SDK.

Parameters

getPosition

the position supplier which points to the current position of the motor in ticks

getVelocity

the position supplier which points to the current velocity of the motor in ticks per second

Constructors

Motor.Encoder

public Motor.Encoder Motor.Encoder(HardwareMap hMap, String id)

Constructs an encoder from the provided id of the corresponding motor.

Properties

distance

private final Double distance

The distance traveled by the encoder computed using distancePerTick.

distancePerTick

@JvmField()

public Double distancePerTick

The distance per revolution of the encoder.

distanceVelocity

private final Double distanceVelocity

The velocity of the encoder in units per second computed using distancePerTick.

position

private final Integer position

The current position of the encoder in ticks.

reversed

@JvmField()

public Boolean reversed

Whether the encoder is reversed. Independent of motor direction.

velocity

private final Double velocity

The corrected velocity of the encoder in ticks per second, accounting for overflow.

Functions

getDistance

public final Double getDistance()

getDistanceVelocity

public final Double getDistanceVelocity()

getPosition

public final Integer getPosition()

getVelocity

public final Double getVelocity()

multiple

@SafeVarargs()

public final static List<Motor.Encoder> multiple(HardwareMap hMap, Pair<String, Boolean> ids)

public final static List<Motor.Encoder> multiple(HardwareMap hMap, String ids)

Utility method for constructing multiple encoders with the same specifications.

reset

public final Unit reset()

Resets the encoder without having to stop the corresponding motor.

reversed

public final Motor.Encoder reversed()

Reverses the encoder.

setReversed

public final Motor.Encoder setReversed(Boolean reversed)