challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/utils/HallEffectSensor.java

   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     System.out.println("Counter count: " + counter.get());
  29     return counter.getPeriod();
  30   }
  31
  32   /**
  33    * Returns rotations per minute(buffered) of hall effect sensor counter
  34    *
  35    * @return rotations per minute of hall effect sensor
  36    */
  37   public double getRPM() {
  38     return this.getRPS() * 60;
  39   }
  40
  41 }