rev::SparkMaxAnalogSensor Class Reference

#include <SparkMaxAnalogSensor.h>

Inherits rev::AnalogInput, and rev::CANAnalog.

Inherited by rev::SparkAnalogSensor.

Public Types
enum class	Mode { kAbsolute = 0 , kRelative = 1 }
Public Types inherited from rev::CANAnalog
enum class	AnalogMode { kAbsolute = 0 , kRelative = 1 }

Public Member Functions
	SparkMaxAnalogSensor (SparkMaxAnalogSensor &&)=default
SparkMaxAnalogSensor &	operator= (SparkMaxAnalogSensor &&)=default
	SparkMaxAnalogSensor (const SparkMaxAnalogSensor &rhs)=default
	~SparkMaxAnalogSensor () override=default
double	GetVoltage () const override
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	SetAverageDepth (uint32_t depth) override
REVLibError	SetMeasurementPeriod (uint32_t period_ms) override
uint32_t	GetAverageDepth () const override
uint32_t	GetMeasurementPeriod () const override
REVLibError	SetInverted (bool inverted) override
bool	GetInverted () const override
Public Member Functions inherited from rev::AnalogInput
virtual	~AnalogInput ()
Public Member Functions inherited from rev::CANAnalog
virtual	~CANAnalog ()
Public Member Functions inherited from rev::MotorFeedbackSensor
virtual	~MotorFeedbackSensor ()
Public Member Functions inherited from rev::CANSensor
virtual	~CANSensor ()

Friends
class	CANSparkBase
class	SparkAnalogSensor

Detailed Description

Deprecated:

Use SparkAnalogSensor instead

Member Enumeration Documentation

Mode

enum class rev::SparkMaxAnalogSensor::Mode

strong

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

Deprecated:

Use SparkAnalogSensor::Mode instead

Enumerator
kAbsolute
kRelative

Constructor & Destructor Documentation

SparkMaxAnalogSensor() [1/2]

rev::SparkMaxAnalogSensor::SparkMaxAnalogSensor ( SparkMaxAnalogSensor &&  )

default

SparkMaxAnalogSensor() [2/2]

rev::SparkMaxAnalogSensor::SparkMaxAnalogSensor ( const SparkMaxAnalogSensor &  rhs )

default

~SparkMaxAnalogSensor()

rev::SparkMaxAnalogSensor::~SparkMaxAnalogSensor ( )

overridedefault

Member Function Documentation

operator=()

SparkMaxAnalogSensor & rev::SparkMaxAnalogSensor::operator= ( SparkMaxAnalogSensor &&  )

default

GetVoltage()

double SparkMaxAnalogSensor::GetVoltage ( ) const

overridevirtual

Get the voltage of the analog sensor.

Returns

Voltage of the sensor

Implements rev::AnalogInput.

GetPosition()

double SparkMaxAnalogSensor::GetPosition ( ) const

overridevirtual

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

Implements rev::AnalogInput.

GetVelocity()

double SparkMaxAnalogSensor::GetVelocity ( ) const

overridevirtual

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

Implements rev::CANAnalog.

SetPositionConversionFactor()

REVLibError SparkMaxAnalogSensor::SetPositionConversionFactor ( double  factor )

overridevirtual

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

Implements rev::AnalogInput.

GetPositionConversionFactor()

double SparkMaxAnalogSensor::GetPositionConversionFactor ( ) const

overridevirtual

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

Returns

Analog position conversion factor

Implements rev::AnalogInput.

SetVelocityConversionFactor()

REVLibError SparkMaxAnalogSensor::SetVelocityConversionFactor ( double  factor )

overridevirtual

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 is successful

Implements rev::CANAnalog.

GetVelocityConversionFactor()

double SparkMaxAnalogSensor::GetVelocityConversionFactor ( ) const

overridevirtual

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

Returns

Analog velocity conversion factor

Implements rev::CANAnalog.

SetAverageDepth()

REVLibError SparkMaxAnalogSensor::SetAverageDepth ( uint32_t  depth )

overridevirtual

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

Implements rev::CANAnalog.

SetMeasurementPeriod()

REVLibError SparkMaxAnalogSensor::SetMeasurementPeriod ( uint32_t  period_ms )

overridevirtual

Set the measurement period for velocity readings.

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::CANAnalog.

GetAverageDepth()

uint32_t SparkMaxAnalogSensor::GetAverageDepth ( ) const

overridevirtual

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

Returns

The average sampling depth

Implements rev::CANAnalog.

GetMeasurementPeriod()

uint32_t SparkMaxAnalogSensor::GetMeasurementPeriod ( ) const

overridevirtual

Get the measurement period used for velocity readings.

Returns

Measurement period in microseconds

Implements rev::CANAnalog.

SetInverted()

REVLibError SparkMaxAnalogSensor::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. 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::CANAnalog.

GetInverted()

bool SparkMaxAnalogSensor::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::CANAnalog.

Friends And Related Function Documentation

CANSparkBase

friend class CANSparkBase

friend

SparkAnalogSensor

friend class SparkAnalogSensor

friend

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

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