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package com.grt192.sensor;
import com.grt192.core.Sensor;
import com.grt192.event.component.EncoderEvent;
import com.grt192.event.component.EncoderListener;
import edu.wpi.first.wpilibj.Encoder;
import java.util.Vector;
/**
*
* @author grtstudent
*/
public class GRTEncoder extends Sensor{
private Encoder rotaryEncoder;
private Vector encoderListeners;
public static final double DIST_PER_PULSE = Math.PI * 16/(360 * 4 *12);
public GRTEncoder(int channela, int channelb, int pollTime, String id){
rotaryEncoder = new Encoder(channela, channelb);
rotaryEncoder.start();
rotaryEncoder.setDistancePerPulse(DIST_PER_PULSE);
setSleepTime(pollTime);
encoderListeners = new Vector();
this.id = id;
}
public void poll() {
double previous = getState("Direction");
setState("Direction", rotaryEncoder.getDirection());
if(previous != getState("Direction"))
this.notifyDirectionChanged();
setState("Rate", rotaryEncoder.getRate());
setState("Count", rotaryEncoder.get());
setState("Distance", rotaryEncoder.getDistance());
if(previous != getState("Distance"))
this.notifyEncoderChange();
setState("Stopped", rotaryEncoder.getStopped());
if(previous != getState("Stopped"))
if(getState("Stopped") == Sensor.TRUE)
this.notifyEncoderStopped();
else
this.notifyEncoderStarted();
}
public void addEncoderListener(EncoderListener a){
encoderListeners.addElement(a);
}
public void removeEncoderListener(EncoderListener a){
encoderListeners.removeElement(a);
}
protected void notifyEncoderChange(){
for(int i=0; i<encoderListeners.size(); i++){
((EncoderListener)
encoderListeners.elementAt(i)).countDidChange(
new EncoderEvent(this,
EncoderEvent.DEFAULT,
getState("Distance"),
(getState("Direction")
== Sensor.TRUE)
)
);
}
}
protected void notifyEncoderStarted(){
for(int i=0; i<encoderListeners.size(); i++){
((EncoderListener)
encoderListeners.elementAt(i)).rotationDidStart(
new EncoderEvent(this,
EncoderEvent.DEFAULT,
getState("Distance"),
(getState("Direction")
== Sensor.TRUE)
)
);
}
}
protected void notifyEncoderStopped(){
for(int i=0; i<encoderListeners.size(); i++){
((EncoderListener)
encoderListeners.elementAt(i)).rotationDidStop(
new EncoderEvent(this,
EncoderEvent.DEFAULT,
getState("Distance"),
(getState("Direction")
== Sensor.TRUE)
)
);
}
}
protected void notifyDirectionChanged(){
for(int i=0; i<encoderListeners.size(); i++){
((EncoderListener)
encoderListeners.elementAt(i)).rotationDidStop(
new EncoderEvent(this,
EncoderEvent.DEFAULT,
getState("Distance"),
(getState("Direction")
== Sensor.TRUE)
)
);
}
}
}