| 1 | package org.usfirst.frc.team3501.robot.utils; |
| 2 | |
| 3 | import edu.wpi.first.wpilibj.Counter; |
| 4 | |
| 5 | public class HallEffectSensor { |
| 6 | private Counter counter; |
| 7 | |
| 8 | public HallEffectSensor(int port, int bufferLength) { |
| 9 | counter = new Counter(port); |
| 10 | counter.setSamplesToAverage(bufferLength); |
| 11 | } |
| 12 | |
| 13 | /** |
| 14 | * Returns rotations per second(buffered) of hall effect sensor counter |
| 15 | * |
| 16 | * @return rotations per second of hall effect counter |
| 17 | */ |
| 18 | public double getRPS() { |
| 19 | return 1.0 / counter.getPeriod(); |
| 20 | } |
| 21 | |
| 22 | /** |
| 23 | * Get the period of the most recent count. |
| 24 | * |
| 25 | * @return period of latest count in seconds |
| 26 | */ |
| 27 | public double getCounterPeriod() { |
| 28 | return counter.getPeriod(); |
| 29 | } |
| 30 | |
| 31 | /** |
| 32 | * Returns rotations per minute(buffered) of hall effect sensor counter |
| 33 | * |
| 34 | * @return rotations per minute of hall effect sensor |
| 35 | */ |
| 36 | public double getRPM() { |
| 37 | return this.getRPS() * 60; |
| 38 | } |
| 39 | |
| 40 | } |