rev::SparkMaxAbsoluteEncoder Class Reference

#include <SparkMaxAbsoluteEncoder.h>

Inherits rev::AbsoluteEncoder.

Inherited by rev::SparkAbsoluteEncoder.

Public Types
enum class	Type { kDutyCycle }

Public Member Functions
	SparkMaxAbsoluteEncoder (SparkMaxAbsoluteEncoder &&rhs)=default
SparkMaxAbsoluteEncoder &	operator= (SparkMaxAbsoluteEncoder &&rhs)=default
	SparkMaxAbsoluteEncoder (const SparkMaxAbsoluteEncoder &rhs)=default
	~SparkMaxAbsoluteEncoder () override=default
double	GetPosition () const override
double	GetVelocity () const override
REVLibError	SetPositionConversionFactor (double factor) override
double	GetPositionConversionFactor () const override
REVLibError	SetVelocityConversionFactor (double factor) override
double	GetVelocityConversionFactor () const override
REVLibError	SetInverted (bool inverted) override
bool	GetInverted () const override
REVLibError	SetAverageDepth (uint32_t depth) override
uint32_t	GetAverageDepth () const override
REVLibError	SetZeroOffset (double offset) override
double	GetZeroOffset () const override
Public Member Functions inherited from rev::AbsoluteEncoder
virtual	~AbsoluteEncoder ()
Public Member Functions inherited from rev::MotorFeedbackSensor
virtual	~MotorFeedbackSensor ()
Public Member Functions inherited from rev::CANSensor
virtual	~CANSensor ()

Friends
class	CANSparkBase
class	SparkAbsoluteEncoder

Detailed Description

Get an instance of this class by using CANSparkBase::GetEncoder() or CANSparkBase::GetEncoder(SparkMaxRelativeEncoder::Type, int).

Deprecated:

Use SparkAbsoluteEncoder instead

Member Enumeration Documentation

Type

enum class rev::SparkMaxAbsoluteEncoder::Type

strong

The type of encoder connected to a SPARK MAX

Deprecated:

Use SparkAbsoluteEncoder::Type instead

Enumerator
kDutyCycle

Constructor & Destructor Documentation

SparkMaxAbsoluteEncoder() [1/2]

rev::SparkMaxAbsoluteEncoder::SparkMaxAbsoluteEncoder ( SparkMaxAbsoluteEncoder &&  rhs )

default

SparkMaxAbsoluteEncoder() [2/2]

rev::SparkMaxAbsoluteEncoder::SparkMaxAbsoluteEncoder ( const SparkMaxAbsoluteEncoder &  rhs )

default

~SparkMaxAbsoluteEncoder()

rev::SparkMaxAbsoluteEncoder::~SparkMaxAbsoluteEncoder ( )

overridedefault

Member Function Documentation

operator=()

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

default

GetPosition()

double SparkMaxAbsoluteEncoder::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::AbsoluteEncoder.

GetVelocity()

double SparkMaxAbsoluteEncoder::GetVelocity ( ) const

overridevirtual

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

Returns

Number of rotations per second of the motor

Implements rev::AbsoluteEncoder.

SetPositionConversionFactor()

REVLibError SparkMaxAbsoluteEncoder::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::AbsoluteEncoder.

GetPositionConversionFactor()

double SparkMaxAbsoluteEncoder::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::AbsoluteEncoder.

SetVelocityConversionFactor()

REVLibError SparkMaxAbsoluteEncoder::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::AbsoluteEncoder.

GetVelocityConversionFactor()

double SparkMaxAbsoluteEncoder::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::AbsoluteEncoder.

SetInverted()

REVLibError SparkMaxAbsoluteEncoder::SetInverted ( bool  inverted )

overridevirtual

Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself

Parameters

inverted

The phase of the encoder

Returns

REVLibError::kOk if successful

Implements rev::AbsoluteEncoder.

GetInverted()

bool SparkMaxAbsoluteEncoder::GetInverted ( ) const

overridevirtual

Get the phase of the AbsoluteEncoder

Returns

The phase of the encoder

Implements rev::AbsoluteEncoder.

SetAverageDepth()

REVLibError SparkMaxAbsoluteEncoder::SetAverageDepth ( uint32_t  depth )

overridevirtual

Set the average sampling depth for an absolute encoder. This is a bit size and should be either 1, 2, 4, 8, 16, 32, 64, or 128

Parameters

depth

The average sampling depth of 1, 2, 4, 8, 16, 32, 64, or 128

Returns

REVLibError::kOk if successful

Implements rev::AbsoluteEncoder.

GetAverageDepth()

uint32_t SparkMaxAbsoluteEncoder::GetAverageDepth ( ) const

overridevirtual

Get the average sampling depth for an absolute encoder

Returns

The average sampling depth

Implements rev::AbsoluteEncoder.

SetZeroOffset()

REVLibError SparkMaxAbsoluteEncoder::SetZeroOffset ( double  offset )

overridevirtual

Sets the zero offset of an absolute encoder (the position that is reported as zero).

The zero offset is specified as the reported position of the encoder in the desired zero position, if the zero offset was set to 0. It is influenced by the absolute encoder's position conversion factor, and whether it is inverted.

Always call SetPositionConversionFactor() and SetInverted() before calling this function.

Parameters

offset

The zero offset with the position conversion factor applied

Returns

REVLibError::kOk if successful

Implements rev::AbsoluteEncoder.

GetZeroOffset()

double SparkMaxAbsoluteEncoder::GetZeroOffset ( ) const

overridevirtual

Gets the zero offset for an absolute encoder (the position that is reported as zero).

The zero offset is specified as the reported position of the encoder in the desired zero position, if the zero offset was set to 0. It is influenced by the absolute encoder's position conversion factor, and whether it is inverted.

Returns

The zero offset of the absolute encoder with the position conversion factor applied

Implements rev::AbsoluteEncoder.

Friends And Related Function Documentation

CANSparkBase

friend class CANSparkBase

friend

SparkAbsoluteEncoder

friend class SparkAbsoluteEncoder

friend

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

• src/main/native/include/rev/SparkMaxAbsoluteEncoder.h
• src/main/native/cpp/SparkMaxAbsoluteEncoder.cpp