Package edu.wpi.first.wpilibj.counter

Class Tachometer

java.lang.Object
edu.wpi.first.wpilibj.counter.Tachometer
All Implemented Interfaces:
Sendable, AutoCloseable
public class Tachometer extends Object implements Sendable, AutoCloseable
Tachometer.

The Tachometer class measures the time between digital pulses to determine the rotation speed of a mechanism. Examples of devices that could be used with the tachometer class are a hall effect sensor, break beam sensor, or optical sensor detecting tape on a shooter wheel. Unlike encoders, this class only needs a single digital input.

  • Constructor Details

    • Tachometer

      public Tachometer(int channel, EdgeConfiguration configuration)
      Constructs a new tachometer.
      Parameters:
      channel - The channel of the Tachometer.
      configuration - The edge configuration

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • getPeriod

      public double getPeriod()
      Gets the tachometer period.
      Returns:
      Current period (in seconds).

    • getFrequency

      public double getFrequency()
      Gets the tachometer frequency.
      Returns:
      Current frequency (in hertz).

    • getEdgesPerRevolution

      public int getEdgesPerRevolution()
      Gets the number of edges per revolution.
      Returns:
      Edges per revolution.

    • setEdgesPerRevolution

      public void setEdgesPerRevolution(int edgesPerRevolution)
      Sets the number of edges per revolution.
      Parameters:
      edgesPerRevolution - Edges per revolution.

    • getRevolutionsPerSecond

      public double getRevolutionsPerSecond()
      Gets the current tachometer revolutions per second.

      setEdgesPerRevolution must be set with a non 0 value for this to return valid values.

      Returns:
      Current RPS.

    • getRevolutionsPerMinute

      public double getRevolutionsPerMinute()
      Gets the current tachometer revolutions per minute.

      setEdgesPerRevolution must be set with a non 0 value for this to return valid values.

      Returns:
      Current RPM.

    • getStopped

      public boolean getStopped()
      Gets if the tachometer is stopped.
      Returns:
      True if the tachometer is stopped.

    • setMaxPeriod

      public void setMaxPeriod(double maxPeriod)
      Sets the maximum period before the tachometer is considered stopped.
      Parameters:
      maxPeriod - The max period (in seconds).

    • initSendable

      public void initSendable(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Parameters:
      builder - sendable builder