From ca5ee1198cd89b2ee7f10f9d1b7bcbdc11ce6a31 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Fri, 22 Jul 2016 13:07:03 -0400
Subject: [PATCH] Added base encoder code

---
 .../team2059/robot/structs/EncoderValues.java | 27 +++++++++++++++++
 .../robot/subsystems/Encoderbase.java         | 29 +++++++++++++++++++
 2 files changed, 56 insertions(+)
 create mode 100644 src/org/usfirst/frc/team2059/robot/structs/EncoderValues.java
 create mode 100644 src/org/usfirst/frc/team2059/robot/subsystems/Encoderbase.java

diff --git a/src/org/usfirst/frc/team2059/robot/structs/EncoderValues.java b/src/org/usfirst/frc/team2059/robot/structs/EncoderValues.java
new file mode 100644
index 0000000..fe1a44d
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/structs/EncoderValues.java
@@ -0,0 +1,27 @@
+package org.usfirst.frc.team2059.robot.structs;
+public class EncoderValues {
+  private int count;
+  private double distance, period, rate;
+  private boolean direction, stopped;
+  public EncoderValues(int count, double distance, double period, double rate, boolean direction, boolean stopped) {
+  }
+  public int getCount() {
+    return count;
+  }
+  public double getDistance() {
+    return distance;
+  }
+  public double getPeriod() {
+    return period;
+  }
+  public double getRate() {
+    return rate;
+  }
+  public boolean getDirection() {
+    return direction;
+  }
+  public boolean getStopped() {
+    return stopped;
+  }
+}
+// vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Encoderbase.java b/src/org/usfirst/frc/team2059/robot/subsystems/Encoderbase.java
new file mode 100644
index 0000000..0ae8cae
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/Encoderbase.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+import org.usfirst.frc.team2059.robot.RobotMap;
+import org.usfirst.frc.team2059.robot.commands.Drive;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.Encoder;
+import org.usfirst.frc.team2059.robot.structs.EncoderValues;
+public class Encoderbase extends Subsystem {
+  Encoder enc = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
+  public void initDefaultCommand() {
+    //TODO: Not sure if we need a default command, not settingo one
+    //TODO: These are just defaults, they wil lneed to be changed
+    enc.setMaxPeriod(.1);
+    enc.setMinRate(10);
+    enc.setDistancePerPulse(5);
+    enc.setReverseDirection(false);
+    enc.setSamplesToAverage(7);
+  }
+  public void resetEncoder() {
+    enc.reset();
+  }
+  public EncoderValues getValues() {
+    //TODO: There are two ways to get distance:
+    //enc.getDistance();
+    //enc.getRaw();
+    //figure out which to use
+    return new EncoderValues(enc.get() , enc.getRaw() , enc.getPeriod() , enc.getRate() , enc.getDirection() , enc.getStopped());
+  }
+}
+// vim: sw=2:ts=2:sts=2