package nanovm.ctbot.drivers;
public class WheelEncoder
{
/**
* maximum value for tick increment
*/
public static final int MAXIMUM = 32767;
/**
* minimum value for tick increment
*/
public static final int MINIMUM = -32768;
/**
* minimum value for speed
*/
public static final int MAXIMUM_SPEED = 130;
/**
* maximum value for speed
*/
public static final int MINIMUM_SPEED = -130;
/**
* get tick-count from left wheel since last call
*/
public static native int getLeftInc();
/**
* get tick-count from right wheel since last call
*/
public static native int getRightInc();
/**
* get actual speed (ticks/second) from left wheel
*/
public static native int getLeftSpeed();
/**
* get actual speed (ticks/second) from right wheel
*/
public static native int getRightSpeed();
/**
* enable and disable the wheel-encoder
*/
public static native void setEnabled(boolean enable);
/**
* get status of wheel-encoder
*/
public static native boolean getEnabled();
}