/*
* // 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);
}
public IWheelEncoder produceWheelEncoder(WheelEncoderId wheelEncoderId, int updateFrequency, int resolution, int countChangedThreshold)
{
return(new WheelEncoder(tokenSource.Token));
}
/*
// 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;
}
public IWheelEncoder produceWheelEncoder(WheelEncoderId wheelEncoderId, int updateFrequency, int resolution, int countChangedThreshold)
{
return new WheelEncoder(tokenSource.Token);
}
