PedroPathing/com.pedropathing.localization/Encoder

Encoder

public class Encoder

This is the Encoder class. This tracks the position of a motor of class DcMotorEx. The motor must have an encoder attached. It can also get changes in position.

Author

Anyi Lin - 10158 Scott's Bots

Constructors

Encoder

public void Encoder(DcMotorEx setMotor)

This creates a new Encoder from a DcMotorEx.

Properties

FORWARD

public final static double FORWARD

multiplier

public double multiplier

REVERSE

public final static double REVERSE

Functions

getDeltaPosition

public double getDeltaPosition()

This returns the change in position from the previous position to the current position.

getMultiplier

public double getMultiplier()

This returns the multiplier/direction of the Encoder.

reset

public void reset()

This resets the Encoder's position and the current and previous position in the code.

setDirection

public void setDirection(double setMultiplier)

This sets the direction/multiplier of the Encoder.

update

public void update()

This updates the Encoder's tracked current position and previous position.