@Override
public double getRate() {
// Units: (0-1023)/cycle / 1023 x (turns/volt) x (volts) x (degrees/turn) x (cycles/second) =
// (degrees/second)
return changeInVoltsPerCycle.getAsDouble()
/ analogRange
* analogTurnsPerVolt
* voltageRange
* 360.0
/ cyclePeriodInSeconds.getAsDouble();
}
@Override
public double getRate() {
// Units: (edges/cycle) * (pulses/edge) x (degrees/pulse) x (cycles/second) = (degrees/second)
return velocityInEdgesPerCycle.getAsDouble()
/ edgesPerPulse
/ pulsesPerDegree
/ cyclePeriodInSeconds.getAsDouble();
}
/*
* BooleanSupplier. Supplier of boolean-valued results.
* IntSupplier. Supplier of int-valued results.
* LongSupplier. Supplier of long-valued results.
* DoubleSupplier. Supplier of double-valued results.
*/
public static void main(String[] args) {
BooleanSupplier booleanSupplier = () -> Boolean.TRUE;
IntSupplier intSupplier = () -> new Integer(0);
LongSupplier longSupplier = () -> new Long(0);
DoubleSupplier doubleSupplier = () -> new Double(0);
System.out.println(booleanSupplier.getAsBoolean());
System.out.println(intSupplier.getAsInt());
System.out.println(longSupplier.getAsLong());
System.out.println(doubleSupplier.getAsDouble());
}
@Override
public Gyroscope zero() {
zero = analogPosition.getAsDouble();
return this;
}
@Override
public double getAngle() {
return angleInDegreesFromRawPosition(analogPosition.getAsDouble());
}
@Override
public Gyroscope zero() {
zero = positionInEdges.getAsDouble();
return this;
}
@Override
public double getAngle() {
return angleInDegreesFromRawPosition(positionInEdges.getAsDouble());
}
public default void bindPosition(DoubleSupplier source) {
Scheduler.addBind(() -> setPosition(source.getAsDouble()));
}