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 createForChannel(channel: int) → 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 createForIndex(index: int) → 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

getCount() → int

Read the count of the encoder.

Returns:

the count

getDirection() → bool

Get the direction of the encoder.

Returns:

the direction of the encoder

getDistance() → float

Read the distance of the encoder.

Returns:

the encoder distance

getDistancePerPulse() → float

Read the distance per pulse of the encoder.

Returns:

the encoder distance per pulse

getInitialized() → bool

Read the Initialized value of the encoder.

Returns:

true if initialized

getMaxPeriod() → float

Get the max period of the encoder.

Returns:

the max period of the encoder

getPeriod() → float

Read the period of the encoder.

Returns:

the encoder period

getRate() → float

Get the rate of the encoder.

Returns:

the rate of change

getReset() → bool

Check if the encoder has been reset.

Returns:

true if reset

getReverseDirection() → bool

Get the reverse direction of the encoder.

Returns:

the reverse direction of the encoder

getSamplesToAverage() → int

Get the samples-to-average value.

Returns:

the samples-to-average value

registerCountCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

registerDirectionCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

registerDistancePerPulseCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

registerInitializedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

registerMaxPeriodCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

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

Parameters:

• callback – the callback

• initialNotify – whether to run the callback on the initial value

Returns:

the CallbackStore object associated with this callback

registerPeriodCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

registerResetCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

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

Parameters:

• callback – the callback

• initialNotify – whether to run the callback on the initial value

Returns:

the CallbackStore object associated with this callback

registerReverseDirectionCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

registerSamplesToAverageCallback(callback: Callable[[str, HAL_Value], None], initialNotify: 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

• initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

resetData() → None

Resets all simulation data for this encoder.

setCount(count: int) → None

Change the count of the encoder.

Parameters:

count – the new count

setDirection(direction: bool) → None

Set the direction of the encoder.

Parameters:

direction – the new direction

setDistance(distance: float) → None

Change the encoder distance.

Parameters:

distance – the new distance

setDistancePerPulse(distancePerPulse: float) → None

Change the encoder distance per pulse.

Parameters:

distancePerPulse – the new distance per pulse

setInitialized(initialized: bool) → None

Change the Initialized value of the encoder.

Parameters:

initialized – the new value

setMaxPeriod(maxPeriod: float) → None

Change the max period of the encoder.

Parameters:

maxPeriod – the new value

setPeriod(period: float) → None

Change the encoder period.

Parameters:

period – the new period

setRate(rate: float) → None

Change the rate of the encoder.

Parameters:

rate – the new rate

setReset(reset: bool) → None

Change the reset property of the encoder.

Parameters:

reset – the new value

setReverseDirection(reverseDirection: bool) → None

Set the reverse direction.

Parameters:

reverseDirection – the new value

setSamplesToAverage(samplesToAverage: int) → None

Set the samples-to-average value.

Parameters:

samplesToAverage – the new value