rev::CANAnalog Class Reference

#include <CANAnalog.h>

Inherits rev::MotorFeedbackSensor.

Inherited by rev::SparkMaxAnalogSensor.

Public Types
enum class	AnalogMode { kAbsolute = 0 , kRelative = 1 }

Public Member Functions
virtual	~CANAnalog ()
virtual double	GetVoltage () const =0
virtual double	GetPosition () const =0
virtual double	GetVelocity () const =0
virtual REVLibError	SetPositionConversionFactor (double factor)=0
virtual double	GetPositionConversionFactor () const =0
virtual REVLibError	SetVelocityConversionFactor (double factor)=0
virtual double	GetVelocityConversionFactor () const =0
virtual REVLibError	SetAverageDepth (uint32_t depth)=0
virtual REVLibError	SetMeasurementPeriod (uint32_t period_ms)=0
virtual uint32_t	GetAverageDepth () const =0
virtual uint32_t	GetMeasurementPeriod () const =0
REVLibError	SetInverted (bool inverted) override=0
bool	GetInverted () const override=0
Public Member Functions inherited from rev::MotorFeedbackSensor
virtual	~MotorFeedbackSensor ()
Public Member Functions inherited from rev::CANSensor
virtual	~CANSensor ()

Friends
class	SparkMaxAnalogSensor

Detailed Description

Deprecated:

Use SparkMaxAnalogSensor instead.

Member Enumeration Documentation

AnalogMode

enum class rev::CANAnalog::AnalogMode

strong

Analog sensors have the ability to either be absolute or relative. By default, GetAnalog() will return an absolute analog sensor, but it can also be configured to be a relative sensor instead.

Deprecated:

Use SparkMaxAnalogSensor::Mode instead

Enumerator
kAbsolute
kRelative

Constructor & Destructor Documentation

~CANAnalog()

virtual rev::CANAnalog::~CANAnalog ( )

inlinevirtual

Member Function Documentation

GetVoltage()

virtual double rev::CANAnalog::GetVoltage ( ) const

pure virtual

Get the voltage of the analog sensor.

Returns

Voltage of the sensor

Implemented in rev::SparkMaxAnalogSensor.

GetPosition()

virtual double rev::CANAnalog::GetPosition ( ) const

pure virtual

Get the position of the sensor. Returns value in the native unit of 'volt' by default, and can be changed by a scale factor using setPositionConversionFactor().

Returns

Position of the sensor in volts

Implemented in rev::SparkMaxAnalogSensor.

GetVelocity()

virtual double rev::CANAnalog::GetVelocity ( ) const

pure virtual

Get the velocity of the sensor. Returns value in the native units of 'volts per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().

Returns

Velocity of the sensor in volts per second

Implemented in rev::SparkMaxAnalogSensor.

SetPositionConversionFactor()

virtual REVLibError rev::CANAnalog::SetPositionConversionFactor ( double  factor )

pure virtual

Set the conversion factor for the position of the analog sensor. By default, revolutions per volt is 1. Changing the position conversion factor will also change the position units.

Parameters

factor

The conversion factor which will be multiplied by volts

Returns

REVLibError::kOk if successful

Implemented in rev::SparkMaxAnalogSensor.

GetPositionConversionFactor()

virtual double rev::CANAnalog::GetPositionConversionFactor ( ) const

pure virtual

Get the current conversion factor for the position of the analog sensor.

Returns

Analog position conversion factor

Implemented in rev::SparkMaxAnalogSensor.

SetVelocityConversionFactor()

virtual REVLibError rev::CANAnalog::SetVelocityConversionFactor ( double  factor )

pure virtual

Set the conversion factor for the velocity of the analog sensor. By default, revolutions per volt second is 1. Changing the velocity conversion factor will also change the velocity units.

Parameters

factor

The conversion factor which will be multipled by volts per second

Returns

REVLibError::kOk if successful

Implemented in rev::SparkMaxAnalogSensor.

GetVelocityConversionFactor()

virtual double rev::CANAnalog::GetVelocityConversionFactor ( ) const

pure virtual

Get the current conversion factor for the velocity of the analog sensor.

Returns

Analog velocity conversion factor

Implemented in rev::SparkMaxAnalogSensor.

SetAverageDepth()

virtual REVLibError rev::CANAnalog::SetAverageDepth ( uint32_t  depth )

pure virtual

Set the number of samples in the average for velocity readings. This can be any value from 1 to 64.

When the SparkMax controller is in Brushless mode, this will not change any behavior.

Parameters

depth

The average sampling depth between 1 and 64 (default)

Returns

REVLibError::kOk if successful

Implemented in rev::SparkMaxAnalogSensor.

SetMeasurementPeriod()

virtual REVLibError rev::CANAnalog::SetMeasurementPeriod ( uint32_t  period_ms )

pure virtual

Set the measurement period for velocity calculations.

The basic formula to calculate velocity is change in position / change in time. This parameter sets the change in time for measurement.

Parameters

period_ms

Measurement period in milliseconds. This number may be between 1 and 100 (default).

Returns

REVLibError::kOk if successful

Implemented in rev::SparkMaxAnalogSensor.

GetAverageDepth()

virtual uint32_t rev::CANAnalog::GetAverageDepth ( ) const

pure virtual

Get the number of samples included in the average for velocity readings.

Returns

The average sampling depth

Implemented in rev::SparkMaxAnalogSensor.

GetMeasurementPeriod()

virtual uint32_t rev::CANAnalog::GetMeasurementPeriod ( ) const

pure virtual

Get the measurement period used for velocity calculation.

Returns

Measurement period in microseconds

Implemented in rev::SparkMaxAnalogSensor.

SetInverted()

REVLibError rev::CANAnalog::SetInverted ( bool  inverted )

overridepure virtual

Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself. This only works for quadrature encoders. This will throw an error if the user tries to set inverted while the SparkMax is Brushless and using the hall effect sensor.

Parameters

inverted

The phase of the encoder

Returns

REVLibError::kOk if successful

Implements rev::MotorFeedbackSensor.

Implemented in rev::SparkMaxAnalogSensor.

GetInverted()

bool rev::CANAnalog::GetInverted ( ) const

overridepure virtual

Get the phase of the MotorFeedbackSensor. This will just return false if the user tries to get inverted while the SparkMax is Brushless and using the hall effect sensor.

Returns

The phase of the encoder

Implements rev::MotorFeedbackSensor.

Implemented in rev::SparkMaxAnalogSensor.

Friends And Related Function Documentation

SparkMaxAnalogSensor

friend class SparkMaxAnalogSensor

friend

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The documentation for this class was generated from the following file:

• src/main/native/include/rev/CANAnalog.h