rev::SparkMaxRelativeEncoder Class Reference

#include <SparkMaxRelativeEncoder.h>

Inherits rev::RelativeEncoder.

Inherited by rev::SparkRelativeEncoder.

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

Public Member Functions
	SparkMaxRelativeEncoder (SparkMaxRelativeEncoder &&rhs)=default
SparkMaxRelativeEncoder &	operator= (SparkMaxRelativeEncoder &&rhs)=default
	SparkMaxRelativeEncoder (const SparkMaxRelativeEncoder &rhs)=default
	~SparkMaxRelativeEncoder () 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	CANSparkBase
class	SparkRelativeEncoder

Detailed Description

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

Deprecated:

Use SparkRelativeEncoder instead

Member Enumeration Documentation

Type

enum class rev::SparkMaxRelativeEncoder::Type

strong

The type of encoder connected to a SPARK MAX

Deprecated:

Use SparkRelativeEncoder::Type instead

Enumerator
kNoSensor
kHallSensor
kQuadrature

Constructor & Destructor Documentation

SparkMaxRelativeEncoder() [1/2]

rev::SparkMaxRelativeEncoder::SparkMaxRelativeEncoder ( SparkMaxRelativeEncoder &&  rhs )

default

SparkMaxRelativeEncoder() [2/2]

rev::SparkMaxRelativeEncoder::SparkMaxRelativeEncoder ( const SparkMaxRelativeEncoder &  rhs )

default

~SparkMaxRelativeEncoder()

rev::SparkMaxRelativeEncoder::~SparkMaxRelativeEncoder ( )

overridedefault

Member Function Documentation

operator=()

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

default

GetPosition()

double SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::SetAverageDepth ( uint32_t  depth )

overridevirtual

Set the sampling depth of the velocity calculation process for a quadrature or hall sensor encoder. This value sets the number of samples in the average for velocity readings. For a quadrature encoder, this can be any value from 1 to 64 (default). For a hall sensor, it must be either 1, 2, 4, or 8 (default).

Parameters

depth

The velocity calculation process's sampling depth

Returns

REVLibError::kOk if successful

Implements rev::RelativeEncoder.

SetMeasurementPeriod()

REVLibError SparkMaxRelativeEncoder::SetMeasurementPeriod ( uint32_t  period_ms )

overridevirtual

Set the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder. For a quadrature encoder, this number may be between 1 and 100 (default). For a hall sensor, this number may be between 8 and 64. The default for a hall sensor is 32ms.

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

Returns

REVLibError::kOk if successful

Implements rev::RelativeEncoder.

GetAverageDepth()

uint32_t SparkMaxRelativeEncoder::GetAverageDepth ( ) const

overridevirtual

Get the velocity calculation process's sampling depth for a quadrature or hall sensor encoder.

Returns

The velocity calculation averaging process's sampling depth

Implements rev::RelativeEncoder.

GetMeasurementPeriod()

uint32_t SparkMaxRelativeEncoder::GetMeasurementPeriod ( ) const

overridevirtual

Get the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder.

Returns

Measurement period in milliseconds

Implements rev::RelativeEncoder.

GetCountsPerRevolution()

uint32_t SparkMaxRelativeEncoder::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 SparkMaxRelativeEncoder::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::RelativeEncoder.

GetInverted()

bool SparkMaxRelativeEncoder::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

CANSparkBase

friend class CANSparkBase

friend

SparkRelativeEncoder

friend class SparkRelativeEncoder

friend

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

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