Struct wpilib::encoder::Encoder

pub struct Encoder { /* private fields */ }

An encoder.

Uses quadrature on two separate channels to read the distance and direction travelled by a shaft. All integration is done by the FPGA.

Implementations

impl Encoder

pub fn new(
    channel_a: i32,
    channel_b: i32,
    encoding: EncodingType
) -> HalResult<Encoder>

Create a new encoder given two channels and an encoding type, returning an error if initialization fails.

pub fn fpga_index(&self) -> HalResult<i32>

Get the FPGA index of this encoder.

pub fn get(&self) -> HalResult<i32>

Get the current value read by this encoder, with any scaling factors applied.

pub fn get_raw(&self) -> HalResult<i32>

Get the raw value of this encoder, without any scaling factors.

pub fn encoding_scale(&self) -> HalResult<i32>

Get the current scaling factor for this encoder.

pub fn rate(&self) -> HalResult<f64>

Get the current (estimated) speed this encoder is travelling at.

pub fn set_min_rate(&mut self, min_rate: f64) -> HalResult<()>

Set the minimum rate that this encoder must be moving at to be considered “moving”.

pub fn reset(&mut self) -> HalResult<()>

Reset the count of this encoder.

Trait Implementations

impl Debug for Encoder

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for Encoder

fn drop(&mut self)

Executes the destructor for this type.