#include <SparkFlexExternalEncoder.h>

Inherits rev::RelativeEncoder.

Public Types
enum class	Type { kQuadrature }

Public Types inherited from rev::CANEncoder
enum class	EncoderType { kNoSensor = 0 , kHallSensor = 1 , kQuadrature = 2 }

enum class	AlternateEncoderType { kQuadrature }

Public Member Functions
	SparkFlexExternalEncoder (SparkFlexExternalEncoder &&rhs)=default

SparkFlexExternalEncoder &	operator= (SparkFlexExternalEncoder &&rhs)=default

	SparkFlexExternalEncoder (const SparkFlexExternalEncoder &rhs)=default

	~SparkFlexExternalEncoder () override=default

double	GetPosition () const override

double	GetVelocity () const override

REVLibError	SetPosition (double position) override

REVLibError	SetPositionConversionFactor (double factor) override

REVLibError	SetVelocityConversionFactor (double factor) override

double	GetPositionConversionFactor () const override

double	GetVelocityConversionFactor () const override

REVLibError	SetAverageDepth (uint32_t depth) override

REVLibError	SetMeasurementPeriod (uint32_t period_ms) override

uint32_t	GetAverageDepth () const override

uint32_t	GetMeasurementPeriod () const override

uint32_t	GetCountsPerRevolution () const override

REVLibError	SetInverted (bool inverted) override

bool	GetInverted () const override

Public Member Functions inherited from rev::RelativeEncoder
virtual	~RelativeEncoder ()

Public Member Functions inherited from rev::CANEncoder
virtual	~CANEncoder ()

Public Member Functions inherited from rev::MotorFeedbackSensor
virtual	~MotorFeedbackSensor ()

Public Member Functions inherited from rev::CANSensor
virtual	~CANSensor ()

Friends
class	CANSparkFlex

Member Enumeration Documentation

◆ Type

enum class rev::SparkFlexExternalEncoder::Type

strong

The type of encoder wired as an External Encoder on a SPARK Flex

Enumerator
kQuadrature

Constructor & Destructor Documentation

◆ SparkFlexExternalEncoder() [1/2]

rev::SparkFlexExternalEncoder::SparkFlexExternalEncoder ( SparkFlexExternalEncoder && rhs )

default

◆ SparkFlexExternalEncoder() [2/2]

rev::SparkFlexExternalEncoder::SparkFlexExternalEncoder ( const SparkFlexExternalEncoder & rhs )

default

◆ ~SparkFlexExternalEncoder()

rev::SparkFlexExternalEncoder::~SparkFlexExternalEncoder ( )

overridedefault

Member Function Documentation

◆ operator=()

SparkFlexExternalEncoder & rev::SparkFlexExternalEncoder::operator= ( SparkFlexExternalEncoder && rhs )

default

◆ GetPosition()

double SparkFlexExternalEncoder::GetPosition ( ) const

overridevirtual

Get the position of the motor. This returns the native units of 'rotations' by default, and can be changed by a scale factor using setPositionConversionFactor().

Returns: Number of rotations of the motor

Implements rev::RelativeEncoder.

◆ GetVelocity()

double SparkFlexExternalEncoder::GetVelocity ( ) const

overridevirtual

Get the velocity of the motor. This returns the native units of 'RPM' by default, and can be changed by a scale factor using setVelocityConversionFactor().

Returns: Number the RPM of the motor

Implements rev::RelativeEncoder.

◆ SetPosition()

REVLibError SparkFlexExternalEncoder::SetPosition ( double position )

overridevirtual

Set the position of the encoder.

Parameters

position Number of rotations of the motor

Returns: REVLibError::kOk if successful

Implements rev::RelativeEncoder.

◆ SetPositionConversionFactor()

REVLibError SparkFlexExternalEncoder::SetPositionConversionFactor ( double factor )

overridevirtual

Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position

Parameters

factor The conversion factor to multiply the native units by

Returns: REVLibError::kOk if successful

Implements rev::RelativeEncoder.

◆ SetVelocityConversionFactor()

REVLibError SparkFlexExternalEncoder::SetVelocityConversionFactor ( double factor )

overridevirtual

Set the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity

Parameters

factor The conversion factor to multiply the native units by

Returns: REVLibError::kOk if successful

Implements rev::RelativeEncoder.

◆ GetPositionConversionFactor()

double SparkFlexExternalEncoder::GetPositionConversionFactor ( ) const

overridevirtual

Get the conversion factor for position of the encoder. Multiplied by the native output units to give you position

Returns: The conversion factor for position

Implements rev::RelativeEncoder.

◆ GetVelocityConversionFactor()

double SparkFlexExternalEncoder::GetVelocityConversionFactor ( ) const

overridevirtual

Get the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity

Returns: The conversion factor for velocity

Implements rev::RelativeEncoder.

◆ SetAverageDepth()

REVLibError SparkFlexExternalEncoder::SetAverageDepth ( uint32_t depth )

overridevirtual

Set the average sampling depth for a quadrature encoder. This value sets the number of samples in the average for velocity readings. This can be any value from 1 to 64.

Parameters

depth The average sampling depth between 1 and 64 (default)

Returns: REVLibError::kOk if successful

Implements rev::RelativeEncoder.

◆ SetMeasurementPeriod()

REVLibError SparkFlexExternalEncoder::SetMeasurementPeriod ( uint32_t period_ms )

overridevirtual

Set the measurement period for velocity measurements of a quadrature encoder.

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

Implements rev::RelativeEncoder.

◆ GetAverageDepth()

uint32_t SparkFlexExternalEncoder::GetAverageDepth ( ) const

overridevirtual

Get the average sampling depth for a quadrature encoder.

Returns: The average sampling depth

Implements rev::RelativeEncoder.

◆ GetMeasurementPeriod()

uint32_t SparkFlexExternalEncoder::GetMeasurementPeriod ( ) const

overridevirtual

Get the number of samples for reading from a quadrature encoder. This value sets the number of samples in the average for velocity readings.

Returns: Measurement period in microseconds

Implements rev::RelativeEncoder.

◆ GetCountsPerRevolution()

uint32_t SparkFlexExternalEncoder::GetCountsPerRevolution ( ) const

overridevirtual

Get the counts per revolution of the quadrature encoder.

For a description on the difference between CPR, PPR, etc. go to https://www.cuidevices.com/blog/what-is-encoder-ppr-cpr-and-lpr

Returns: Counts per revolution

Implements rev::RelativeEncoder.

◆ SetInverted()

REVLibError SparkFlexExternalEncoder::SetInverted ( bool inverted )

overridevirtual

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.

Parameters

inverted The phase of the encoder

Returns: REVLibError::kOk if successful

Implements rev::RelativeEncoder.

◆ GetInverted()

bool SparkFlexExternalEncoder::GetInverted ( ) const

overridevirtual

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::RelativeEncoder.

Friends And Related Function Documentation

◆ CANSparkFlex

friend class CANSparkFlex

friend

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

src/main/native/include/rev/SparkFlexExternalEncoder.h
src/main/native/cpp/SparkFlexExternalEncoder.cpp

Public Types

Public Member Functions

Friends

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ SparkFlexExternalEncoder() [1/2]

◆ SparkFlexExternalEncoder() [2/2]

◆ ~SparkFlexExternalEncoder()

Member Function Documentation

◆ operator=()

◆ GetPosition()

◆ GetVelocity()

◆ SetPosition()

◆ SetPositionConversionFactor()

◆ SetVelocityConversionFactor()

◆ GetPositionConversionFactor()

◆ GetVelocityConversionFactor()

◆ SetAverageDepth()

◆ SetMeasurementPeriod()

◆ GetAverageDepth()

◆ GetMeasurementPeriod()

◆ GetCountsPerRevolution()

◆ SetInverted()

◆ GetInverted()

Friends And Related Function Documentation

◆ CANSparkFlex