// Drivetrain specific constants that relate to the inches per pulse value for
// the encoders
private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256;
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0;
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5;
+ private final static double PULSES_PER_ROTATION = 256; // in pulses
+ private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+ private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
public final static double INCHES_PER_PULSE = (((Math.PI)
* OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
rightEncoder.reset();
}
- // Returns inches per second
public double getRightSpeed() {
- return rightEncoder.getRate();
+ return rightEncoder.getRate(); // in inches per second
}
public double getLeftSpeed() {
- return leftEncoder.getRate();
+ return leftEncoder.getRate(); // in inches per second
}
public double getSpeed() {
- return (getLeftSpeed() + getRightSpeed()) / 2.0;
+ return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
}
- // Returns distance in in
public double getRightDistance() {
- return rightEncoder.getDistance();
+ return rightEncoder.getDistance(); // in inches
}
- // Returns distance in in
public double getLeftDistance() {
- return leftEncoder.getDistance();
+ return leftEncoder.getDistance(); // in inches
}
public double getDistance() {
- return (getRightDistance() + getLeftDistance()) / 2.0;
+ return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
}
public void stop() {