/*
* // Set these properties based on your robot drivetrain/encoder config:
* encoder.Resolution = 44; // 44 ticks per revolution
* encoder.WheelDiameter = 2.0; // 2 inch wheel diameter
* encoder.WheelEncoderId = WheelEncoderId.Encoder1;
*
* // Clear encoder value:
* encoder.Clear();
*
* // If you're interested in absolute distance, then use this:
* encoder.DistanceChangedThreshold = 0.25; // 0.25 inches
* encoder.DistanceChanged += new
* HardwareComponentEventHandler(encoder_DistanceChanged);
*
* // If you're interested in ticks, then use this:
* encoder.CountChangedThreshold = 10; // 10 ticks;
* encoder.CountChanged += new
* HardwareComponentEventHandler(encoder_CountChanged);
*/
private IWheelEncoder CreateWheelEncoder(IAbstractRobotHardware brick, WheelEncoderId id, int frequency, int threshold)
{
IWheelEncoder encoder = brick.produceWheelEncoder(id, frequency, 1, threshold);
// Frequency milliseconds
// Resolution must be set to avoid divide by zero in WheelEncoder.cs
// CountChangedThreshold ticks
encoder.CountChanged += new HardwareComponentEventHandler(encoder_CountChanged);
return(encoder);
}
private void encoder_CountChanged(IHardwareComponent sender)
{
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
IWheelEncoder encoder = sender as IWheelEncoder;
Debug.Assert(encoder != null, "SensorsControllerPlucky: encoder_CountChanged(): Encoder must be non-null");
if (encoder.WheelEncoderId == WheelEncoderId.Encoder2)
{
sensorsData.WheelEncoderLeftTicks = encoder.Count;
}
else if (encoder.WheelEncoderId == WheelEncoderId.Encoder1)
{
sensorsData.WheelEncoderRightTicks = encoder.Count;
}
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
