rev::SparkMaxAlternateEncoder Class Reference

#include <SparkMaxAlternateEncoder.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
	SparkMaxAlternateEncoder (SparkMaxAlternateEncoder &&rhs)=default
SparkMaxAlternateEncoder &	operator= (SparkMaxAlternateEncoder &&rhs)=default
	SparkMaxAlternateEncoder (const SparkMaxAlternateEncoder &rhs)=default
	~SparkMaxAlternateEncoder () 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	CANSparkMax

Detailed Description

Get an instance of this class by using CANSparkMax::GetEncoder() or CANSparkMax::GetEncoder(CANSparkMax::EncoderType, int).

Member Enumeration Documentation

Type

enum class rev::SparkMaxAlternateEncoder::Type

strong

The type of encoder wired as an Alternate Encoder on a SPARK MAX

Enumerator
kQuadrature

Constructor & Destructor Documentation

SparkMaxAlternateEncoder() [1/2]

rev::SparkMaxAlternateEncoder::SparkMaxAlternateEncoder ( SparkMaxAlternateEncoder &&  rhs )

default

SparkMaxAlternateEncoder() [2/2]

rev::SparkMaxAlternateEncoder::SparkMaxAlternateEncoder ( const SparkMaxAlternateEncoder &  rhs )

default

~SparkMaxAlternateEncoder()

rev::SparkMaxAlternateEncoder::~SparkMaxAlternateEncoder ( )

overridedefault

Member Function Documentation

operator=()

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

default

GetPosition()

double SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::GetAverageDepth ( ) const

overridevirtual

Get the average sampling depth for a quadrature encoder.

Returns

The average sampling depth

Implements rev::RelativeEncoder.

GetMeasurementPeriod()

uint32_t SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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 SparkMaxAlternateEncoder::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

CANSparkMax

friend class CANSparkMax

friend

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

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