EncoderMeasurement.java

package com.roboclub.robobuggy.messages;

import java.util.Date;

/**
 * Message for passing encoder measurements over BuggyROS
 *
 * @author ?
 * @version 0.5
 *          <p>
 *          CHANGELOG: NONE
 *          <p>
 *          DESCRIPTION: TODO
 */
public class EncoderMeasurement extends BaseMessage {

    public static final String VERSION_ID = "encoderV0.0";

    private final double distance;
    private final double velocity;
    private final double dataWord;
    private final double accel;

    /**
     * Construct a new {@link EncoderMeasurement} at time now
     *
     * @param distance the current distance value from the encoder
     * @param velocity the current velocity value from the encoder
     */
    public EncoderMeasurement(double distance, double velocity) {
        this.distance = distance;
        this.velocity = velocity;
        this.timestamp = new Date().getTime();
        this.dataWord = 0;
        this.accel = 0;
    }

    /**
     * Construct a new {@link EncoderMeasurement}
     *
     * @param timestamp {@link Date} representing the time of the message
     * @param distance  the current distance value from the encoder
     * @param velocity  the current velocity value from the encoder
     */
    public EncoderMeasurement(Date timestamp, double distance, double velocity) {
        this.timestamp = new Date(timestamp.getTime()).getTime();
        this.distance = distance;
        this.velocity = velocity;
        this.dataWord = 0;
        this.accel = 0;
    }

    /**
     * Construct a new {@link EncoderMeasurement}
     *
     * @param timestamp {@link Date} representing the time of the message
     * @param dataWord  the exact value passed in from the encoder
     * @param distance  the current distance value from the encoder
     * @param velocity  the current velocity value from the encoder
     * @param accel     the current acceleration value from the encoder
     */
    public EncoderMeasurement(Date timestamp, double dataWord, double distance,
                              double velocity, double accel) {
        this.timestamp = new Date(timestamp.getTime()).getTime();
        this.dataWord = dataWord;
        this.distance = distance;
        this.velocity = velocity;
        this.accel = accel;
    }

    /**
     * Returns the distance from the {@link EncoderMeasurement}
     *
     * @return the distance from the {@link EncoderMeasurement}
     */
    public double getDistance() {
        return distance;
    }

    /**
     * Returns the velocity from the {@link EncoderMeasurement}
     *
     * @return the velocity from the {@link EncoderMeasurement}
     */
    public double getVelocity() {
        return velocity;
    }

    /**
     * Returns the dataWord from the {@link EncoderMeasurement}
     *
     * @return the dataWord from the {@link EncoderMeasurement}
     */
    public double getDataWord() {
        return dataWord;
    }

    /**
     * Returns the acceleration from the {@link EncoderMeasurement}
     *
     * @return the acceleration from the {@link EncoderMeasurement}
     */
    public double getAcceleration() {
        return accel;
    }

}