EncoderSim

class wpilib.simulation.EncoderSim(encoder: wpilib._wpilib.Encoder)

Bases: pybind11_object

Class to control a simulated encoder.

Constructs from an Encoder object.

Parameters:: encoder – Encoder to simulate

static create_for_channel(channel: SupportsInt | SupportsIndex) → wpilib.simulation._simulation.EncoderSim

Creates an EncoderSim for a digital input channel. Encoders take two channels, so either one may be specified.

Parameters:: channel – digital input channel
Returns:: Simulated object @throws NoSuchElementException if no Encoder is configured for that channel

static create_for_index(index: SupportsInt | SupportsIndex) → wpilib.simulation._simulation.EncoderSim

Creates an EncoderSim for a simulated index. The index is incremented for each simulated Encoder.

Parameters:: index – simulator index
Returns:: Simulated object

get_count() → int

Read the count of the encoder.

Returns:: the count

get_direction() → bool

Get the direction of the encoder.

Returns:: the direction of the encoder

get_distance() → float

Read the distance of the encoder.

Returns:: the encoder distance

get_distance_per_pulse() → float

Read the distance per pulse of the encoder.

Returns:: the encoder distance per pulse

get_initialized() → bool

Read the Initialized value of the encoder.

Returns:: true if initialized

get_max_period() → float

Get the max period of the encoder.

Returns:: the max period of the encoder

get_period() → float

Read the period of the encoder.

Returns:: the encoder period

get_rate() → float

Get the rate of the encoder.

Returns:: the rate of change

get_reset() → bool

Check if the encoder has been reset.

Returns:: true if reset

get_reverse_direction() → bool

Get the reverse direction of the encoder.

Returns:: the reverse direction of the encoder

get_samples_to_average() → int

Get the samples-to-average value.

Returns:: the samples-to-average value

register_count_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the count property of the encoder.

Parameters:

callback – the callback that will be called whenever the count property is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

register_direction_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the direction of the encoder.

Parameters:

callback – the callback that will be called whenever the direction is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

register_distance_per_pulse_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the distance per pulse value of this encoder.

Parameters:

callback – the callback that will be called whenever the distance per pulse is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

register_initialized_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the Initialized property of the encoder.

Parameters:

callback – the callback that will be called whenever the Initialized property is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

register_max_period_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run whenever the max period of the encoder is changed.

Parameters:

callback – the callback
initial_notify – whether to run the callback on the initial value

Returns:

the CallbackStore object associated with this callback

register_period_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the period of the encoder.

Parameters:

callback – the callback that will be called whenever the period is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

register_reset_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be called whenever the encoder is reset.

Parameters:

callback – the callback
initial_notify – whether to run the callback on the initial value

Returns:

the CallbackStore object associated with this callback

register_reverse_direction_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the reverse direction.

Parameters:

callback – the callback that will be called whenever the reverse direction is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

register_samples_to_average_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the samples-to-average value of this encoder.

Parameters:

callback – the callback that will be called whenever the samples-to-average is changed
initial_notify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

reset_data() → None: Resets all simulation data for this encoder.

set_count(count: SupportsInt | SupportsIndex) → None

Change the count of the encoder.

Parameters:: count – the new count

set_direction(direction: bool) → None

Set the direction of the encoder.

Parameters:: direction – the new direction

set_distance(distance: SupportsFloat | SupportsIndex) → None

Change the encoder distance.

Parameters:: distance – the new distance

set_distance_per_pulse(distance_per_pulse: SupportsFloat | SupportsIndex) → None

Change the encoder distance per pulse.

Parameters:: distance_per_pulse – the new distance per pulse

set_initialized(initialized: bool) → None

Change the Initialized value of the encoder.

Parameters:: initialized – the new value

set_max_period(max_period: SupportsFloat | SupportsIndex) → None

Change the max period of the encoder.

Parameters:: max_period – the new value

set_period(period: SupportsFloat | SupportsIndex) → None

Change the encoder period.

Parameters:: period – the new period

set_rate(rate: SupportsFloat | SupportsIndex) → None

Change the rate of the encoder.

Parameters:: rate – the new rate

set_reset(reset: bool) → None

Change the reset property of the encoder.

Parameters:: reset – the new value

set_reverse_direction(reverse_direction: bool) → None

Set the reverse direction.

Parameters:: reverse_direction – the new value

set_samples_to_average(samples_to_average: SupportsInt | SupportsIndex) → None

Set the samples-to-average value.

Parameters:: samples_to_average – the new value