package com.grt192.sensor;
import com.grt192.core.Sensor;
import edu.wpi.first.wpilibj.GearTooth;
import edu.wpi.first.wpilibj.PIDSource;
/**
* A hall-effect, geartooth counting sensor driver
* @author Student
*/
public class GRTGearToothCounter extends Sensor{
private GearTooth gearTooth;
public GRTGearToothCounter(int channel,
boolean directionSensitive,
int pollTime,
String id) {
gearTooth = new GearTooth(channel, directionSensitive);
setSleepTime(pollTime);
setState("Count", 0.0);
this.id = id;
}
public void poll() {
setState("Count", gearTooth.get());
}
public String toString() {
return "Gear tooth counter";
}
}