Class WrappedEncoder

Inheritance Relationships

Base Type

Derived Type

Class Documentation

class WrappedEncoder : public tap::encoder::EncoderInterface

Represents an encoder that reports its values as a wrapped number of ticks.

Subclassed by tap::motor::DjiMotorEncoder

Public Functions

WrappedEncoder(bool isInverted, uint32_t encoderResolution, float gearRatio = 1, uint32_t encoderHomePosition = 0)
Parameters:

  • isInverted – if false the positive rotation direction of the shaft is counter-clockwise when looking at the shaft from. If true then the positive rotation direction will be clockwise.

  • encoderResolution – the number of encoder ticks before the value wraps.

  • gearRatio – the ratio of input revolutions over output revolutions of this encoder.

  • encoderHomePosition – the zero position for the encoder in encoder ticks.

inline virtual void initialize() override
virtual tap::algorithms::WrappedFloat getPosition() const override
inline mockable tap::algorithms::WrappedFloat getEncoder () const

Gets the raw encoder position.

virtual float getVelocity() const override
virtual void alignWith(EncoderInterface *other) override
virtual void resetEncoderValue() override

Protected Functions

void updateEncoderValue(uint32_t encoderActual)

Updates the stored encoder value given a newly received encoder value special logic necessary for keeping track of unwrapped encoder value.

Protected Attributes

tap::algorithms::WrappedFloat encoder

The current encoder position.

tap::algorithms::WrappedFloat position

The encoder position converted into output rotations

bool inverted
const uint32_t encoderResolution
const float gearRatio