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update REVThroughBoreDutyCycleEncoder so it gets enough readings to initialize properly #94
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…r, so isConnected() returns when it's had enough readings to initialize
rcahoon
reviewed
Mar 18, 2024
| public REVThroughBoreDutyCycleEncoder(int channel) { | ||
| super(channel); | ||
| setDutyCycleRange(1. / 1025., 1024. / 1025.); | ||
| setConnectedFrequencyThreshold(976 /* 975.6 on spec sheet*/); |
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public boolean isConnected() {
return getFrequency() > m_frequencyThreshold;
}so we might want to be careful about rounding up the threshold (especially since isConnected uses strict greater-than)
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ah, I see. at 976, it'll never "spin up".. nice catch. changing to 975.
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please test this a significant number of times on-robot. i would like to make sure that it regularly reaches 976 Hz (or whether we should set the threshold frequency at 974 so that it will allow 975 Hz as well)
…d` will get a chance to report that it's connected.
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|
thank you! good catch on the strict >. changed threshold to 975. PTAL? |
rcahoon
approved these changes
Mar 18, 2024
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Description
ConnectedFrequencyThresholdforREVThroughBoreDutyCycleEncoderto the right value. this allowsisConnectedto return true only after the encoder has enough readings to initialize properly.Shoulderjust to useisConnectedvs its own initialization timerHow Has This Been Tested?
Needs testing on RevB