Class Tachometer

java.lang.Object
org.wpilib.hardware.counter.Tachometer
All Implemented Interfaces:
AutoCloseable, TelemetryLoggable
public class Tachometer extends Object implements TelemetryLoggable, AutoCloseable
Tachometer.

The Tachometer class measures the rate of digital pulses to determine the rotation velocity 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

    • getFrequency

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

    • setRateWindow

      public void setRateWindow(int windowMilliseconds)
      Sets the time window used to calculate the tachometer rate.
      Parameters:
      windowMilliseconds - The rate calculation window in milliseconds. Valid values are 5 through 255. The default is 50.

    • 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.

      The tachometer is stopped when its current frequency is zero.

      Returns:
      True if the tachometer is stopped.

    • logTo

      public void logTo(TelemetryTable table)
      Description copied from interface: TelemetryLoggable
      Logs the object to a TelemetryTable.
      Specified by:
      logTo in interface TelemetryLoggable
      Parameters:
      table - telemetry table

    • getTelemetryType

      public String getTelemetryType()
      Description copied from interface: TelemetryLoggable
      Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.
      Specified by:
      getTelemetryType in interface TelemetryLoggable
      Returns:
      Table type