rev::detached::DetachedEncoder Class Reference

#include <DetachedEncoder.h>

Inherits rev::RelativeEncoder, and rev::detached::DetachedEncoderLowLevel.

Inherited by rev::detached::SplineEncoder.

Classes
struct	Faults

Public Member Functions
	DetachedEncoder (DetachedEncoder &&rhs)=default
DetachedEncoder &	operator= (DetachedEncoder &&rhs)=default
	DetachedEncoder (const DetachedEncoder &rhs)=default
	~DetachedEncoder () override=default
double	GetPosition () const override
double	GetVelocity () const override
double	GetAngle () const
double	GetRawAngle () const
REVLibError	SetPosition (double position) override
REVLibError	Configure (DetachedEncoderConfig &config, rev::ResetMode resetMode)
Faults	GetFaults () const
Faults	GetStickyFaults () const
REVLibError	ClearFaults ()
Public Member Functions inherited from rev::RelativeEncoder
virtual	~RelativeEncoder ()=default
Public Member Functions inherited from rev::detached::DetachedEncoderLowLevel
virtual	~DetachedEncoderLowLevel ()
int	GetDeviceId () const
EncoderModel	GetEncoderModel () const
FirmwareVersion	GetFirmwareVersion () const
PeriodicStatus0	GetPeriodicStatus0 () const
PeriodicStatus1	GetPeriodicStatus1 () const
PeriodicStatus2	GetPeriodicStatus2 () const
PeriodicStatus3	GetPeriodicStatus3 () const
PeriodicStatus4	GetPeriodicStatus4 () const
void	CreateSimFaultManager ()

Public Attributes
DetachedEncoderConfigAccessor	configAccessor

Protected Member Functions
	DetachedEncoder (int deviceID, EncoderModel model)
Protected Member Functions inherited from rev::detached::DetachedEncoderLowLevel
	DetachedEncoderLowLevel (int deviceID, EncoderModel model)

Additional Inherited Members
Public Types inherited from rev::detached::DetachedEncoderLowLevel
enum class	EncoderModel { kUnknown = 0 , kMAXSplineEncoder = 1 }
Protected Attributes inherited from rev::detached::DetachedEncoderLowLevel
void *	m_detachedEncoderHandle {nullptr}

Constructor & Destructor Documentation

DetachedEncoder() [1/3]

rev::detached::DetachedEncoder::DetachedEncoder ( DetachedEncoder &&  rhs )

default

DetachedEncoder() [2/3]

rev::detached::DetachedEncoder::DetachedEncoder ( const DetachedEncoder &  rhs )

default

~DetachedEncoder()

rev::detached::DetachedEncoder::~DetachedEncoder ( )

overridedefault

Closes the Detached encoder controller

DetachedEncoder() [3/3]

DetachedEncoder::DetachedEncoder ( int  deviceID, EncoderModel  model  )

protected

Create a new object to control a Detached Encoder

Parameters

deviceID	The device ID.
model	The specific model of detached encoder

Member Function Documentation

operator=()

DetachedEncoder & rev::detached::DetachedEncoder::operator= ( DetachedEncoder &&  rhs )

default

GetPosition()

double DetachedEncoder::GetPosition ( ) const

overridevirtual

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

Returns

Number of rotations of the encoder

Implements rev::RelativeEncoder.

GetVelocity()

double DetachedEncoder::GetVelocity ( ) const

overridevirtual

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

Returns

Number the RPM of the encoder

Implements rev::RelativeEncoder.

GetAngle()

double DetachedEncoder::GetAngle

(

)

const

Get the absolute position of the encoder. This returns the native units of 'rotations' [0, 1) by default, and can be changed by a scale factor using DetachedEncoderConfig::PositionConversionFactor().

Returns

Number of rotations of the encoder

GetRawAngle()

double DetachedEncoder::GetRawAngle

(

)

const

Get the absolute position of the encoder. This returns the native units of 'rotations' [0, 1) without scaling from conversion factors.

Returns

Number of rotations of the encoder

SetPosition()

rev::REVLibError DetachedEncoder::SetPosition ( double  position )

overridevirtual

Set the position of the encoder.

Parameters

position

Number of rotations of the encoder

Returns

REVLibError::kOk if successful

Implements rev::RelativeEncoder.

Configure()

rev::REVLibError DetachedEncoder::Configure	(	DetachedEncoderConfig &	config,
		rev::ResetMode	resetMode
	)

Set the configuration for the Detached encoder.

If resetMode is ResetMode::kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration.

Parameters

config	The desired Detached encoder configuration
resetMode	Whether to reset safe parameters before setting the configuration

Returns

REVLibError::kOk if successful

GetFaults()

DetachedEncoder::Faults DetachedEncoder::GetFaults

(

)

const

Get the active faults that are currently present on the detached encoder.

Returns

A struct with each fault and their active value

GetStickyFaults()

DetachedEncoder::Faults DetachedEncoder::GetStickyFaults

(

)

const

Get the sticky faults that were present on the detached encoder at one point since the sticky faults were last cleared.

Sticky faults can be cleared with DetachedEncoder::ClearFaults().

Returns

A struct with each fault and their sticky value

ClearFaults()

rev::REVLibError DetachedEncoder::ClearFaults

(

)

Clears all sticky faults.

Member Data Documentation

configAccessor

DetachedEncoderConfigAccessor rev::detached::DetachedEncoder::configAccessor

Accessor for Detached encoder parameter values. This object contains fields and methods to retrieve parameters that have been applied to the device. To set parameters, see DetachedEncoderConfig and DetachedEncoder::Configure().

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

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

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