REVLib - C++
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rev::spark::EncoderConfig Class Reference

#include <EncoderConfig.h>

Inherits rev::spark::BaseConfig.

Public Member Functions

 EncoderConfig ()=default
 
 ~EncoderConfig () override=default
 
 EncoderConfig (const EncoderConfig &)=delete
 
EncoderConfig & operator= (const EncoderConfig &)=delete
 
 EncoderConfig (EncoderConfig &&) noexcept=delete
 
EncoderConfig & operator= (EncoderConfig &&) noexcept=delete
 
EncoderConfig & Apply (EncoderConfig &config)
 
EncoderConfig & CountsPerRevolution (int cpr)
 
EncoderConfig & Inverted (bool inverted)
 
EncoderConfig & PositionConversionFactor (double factor)
 
EncoderConfig & VelocityConversionFactor (double factor)
 
EncoderConfig & QuadratureAverageDepth (int depth)
 
EncoderConfig & QuadratureMeasurementPeriod (int periodMs)
 
EncoderConfig & UvwAverageDepth (int depth)
 
EncoderConfig & UvwMeasurementPeriod (int periodMs)
 
- Public Member Functions inherited from rev::spark::BaseConfig
virtual ~BaseConfig ()=default
 
virtual std::string Flatten ()
 

Additional Inherited Members

- Protected Types inherited from rev::spark::BaseConfig
using SparkConfig_t = std::variant< int32_t, uint32_t, float, bool >
 
- Protected Member Functions inherited from rev::spark::BaseConfig
 BaseConfig ()=default
 
 BaseConfig (const BaseConfig &)=delete
 
BaseConfig & operator= (const BaseConfig &)=delete
 
 BaseConfig (BaseConfig &&) noexcept=delete
 
BaseConfig & operator= (BaseConfig &&) noexcept=delete
 
template<typename ConfigType >
void PutParameter (uint8_t parameterId, ConfigType value)
 
std::optional< SparkConfig_t > GetParameter (uint8_t parameterId)
 
std::optional< SparkConfig_t > GetParameter (BaseConfig &fromConfig, uint8_t parameterId)
 
void RemoveParameter (uint8_t parameterId)
 
void RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)
 
void Apply (BaseConfig &config)
 

Constructor & Destructor Documentation

◆ EncoderConfig() [1/3]

rev::spark::EncoderConfig::EncoderConfig ( )
default

◆ ~EncoderConfig()

rev::spark::EncoderConfig::~EncoderConfig ( )
overridedefault

◆ EncoderConfig() [2/3]

rev::spark::EncoderConfig::EncoderConfig ( const EncoderConfig &  )
delete

◆ EncoderConfig() [3/3]

rev::spark::EncoderConfig::EncoderConfig ( EncoderConfig &&  )
deletenoexcept

Member Function Documentation

◆ operator=() [1/2]

EncoderConfig & rev::spark::EncoderConfig::operator= ( const EncoderConfig &  )
delete

◆ operator=() [2/2]

EncoderConfig & rev::spark::EncoderConfig::operator= ( EncoderConfig &&  )
deletenoexcept

◆ Apply()

EncoderConfig & EncoderConfig::Apply ( EncoderConfig &  config)

Applies settings from another EncoderConfig to this one.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters
configThe EncoderConfig to copy settings from
Returns
The updated EncoderConfig for method chaining

◆ CountsPerRevolution()

EncoderConfig & EncoderConfig::CountsPerRevolution ( int  cpr)

Set the counts per revolutions of the encoder.

NOTE: This only applies to an encoder used in brushed mode.

Parameters
cprThe counts per rotation
Returns
The modified EncoderConfig object for method chaining

◆ Inverted()

EncoderConfig & EncoderConfig::Inverted ( bool  inverted)

Set the phase of the encoder so that it is in phase with the motor itself.

NOTE: This only applies to an encoder used in brushed mode.

Parameters
invertedThe phase of the encoder
Returns
The modified EncoderConfig object for method chaining

◆ PositionConversionFactor()

EncoderConfig & EncoderConfig::PositionConversionFactor ( double  factor)

Set the conversion factor for the position of the encoder. Position is returned in native units of rotations and will be multiplied by this conversion factor.

Parameters
factorThe conversion factor to multiply the native units by
Returns
The modified EncoderConfig object for method chaining

◆ VelocityConversionFactor()

EncoderConfig & EncoderConfig::VelocityConversionFactor ( double  factor)

Set the conversion factor for the velocity of the encoder. Velocity is returned in native units of rotations per minute and will be multiplied by this conversion factor.

Parameters
factorThe conversion factor to multiply the native units by
Returns
The modified EncoderConfig object for method chaining

◆ QuadratureAverageDepth()

EncoderConfig & EncoderConfig::QuadratureAverageDepth ( int  depth)

Set the sampling depth of the velocity calculation process of the encoder. This value sets the number of samples in the average for velocity readings. This value must be in the range [1, 64]. The default value is 64.

Parameters
depthThe velocity calculation process's sampling depth
Returns
The modified EncoderConfig object for method chaining

◆ QuadratureMeasurementPeriod()

EncoderConfig & EncoderConfig::QuadratureMeasurementPeriod ( int  periodMs)

Set the position measurement period used to calculate the velocity of the encoder. This value is in units of milliseconds and must be in a range [1, 100]. The default value is 100ms

The basic formula to calculate velocity is change in position / change in time. This parameter sets the change in time for measurement.

Parameters
periodMsMeasurement period in milliseconds
Returns
The modified EncoderConfig object for method chaining

◆ UvwAverageDepth()

EncoderConfig & EncoderConfig::UvwAverageDepth ( int  depth)

Set the sampling depth of the velocity calculation process of the encoder. This value sets the number of samples in the average for velocity readings. This value must be either 1, 2, 4, or 8 (default).

Parameters
depthThe velocity calculation process's sampling depth
Returns
The modified EncoderConfig object for method chaining

◆ UvwMeasurementPeriod()

EncoderConfig & EncoderConfig::UvwMeasurementPeriod ( int  periodMs)

Set the position measurement period used to calculate the velocity of the encoder. This value is in units of milliseconds and must be in a range [8, 64]. The default value 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
periodMsMeasurement period in milliseconds
Returns
The modified EncoderConfig object for method chaining
The documentation for this class was generated from the following files: