WheelEncoder.java

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();

}