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
rev::util::Signal< double >	GetPosition () const override
rev::util::Signal< double >	GetVelocity () const override
rev::util::Signal< double >	GetAngle () const
rev::util::Signal< double >	GetRawAngle () const
REVLibError	SetPosition (double position) override
REVLibError	Configure (DetachedEncoderConfig &config, rev::ResetMode resetMode)
rev::util::Signal< Faults >	GetFaults () const
rev::util::Signal< 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	GetBusId () const
int	GetDeviceId () const
EncoderModel	GetEncoderModel () const
FirmwareVersion	GetFirmwareVersion () const
PeriodicStatus0	GetPeriodicStatus0 () const
rev::util::Signal< PeriodicStatus1 >	GetPeriodicStatus1 () const
rev::util::Signal< PeriodicStatus2 >	GetPeriodicStatus2 () const
rev::util::Signal< PeriodicStatus3 >	GetPeriodicStatus3 () const
rev::util::Signal< PeriodicStatus4 >	GetPeriodicStatus4 () const
void	CreateSimFaultManager ()

Public Attributes
DetachedEncoderConfigAccessor	configAccessor

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

protected

Create a new object to control a Detached Encoder

Parameters

busID	The CAN bus ID this device will be on.
deviceID	The device ID.
model	The specific model of detached encoder

Member Function Documentation

operator=()

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

default

GetPosition()

Signal< 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

Signal containing the number of rotations of the encoder

Implements rev::RelativeEncoder.

GetVelocity()

Signal< 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

Signal containing the RPM of the encoder

Implements rev::RelativeEncoder.

GetAngle()

Signal< 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

Signal containing the number of rotations of the encoder

GetRawAngle()

Signal< 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

Signal containing the 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. The following parameters will not be reset by this action: CAN ID and Absolute (Duty Cycle) Zero Offset.

Parameters

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

Returns

REVLibError::kOk if successful

GetFaults()

Signal< DetachedEncoder::Faults > DetachedEncoder::GetFaults

(

)

const

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

Returns

Signal containing a struct with each fault and their active value

GetStickyFaults()

Signal< 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

Signal containing 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