rev::spark::EncoderConfig Class Reference

#include <EncoderConfig.h>

Inherits rev::BaseConfig.

Classes
struct	Presets

Public Member Functions
	EncoderConfig ()=default
	~EncoderConfig () override=default
	EncoderConfig (const EncoderConfig &)=default
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 &	QuadratureAverageDepth (int depth)
EncoderConfig &	QuadratureMeasurementPeriod (int periodMs)
Public Member Functions inherited from rev::BaseConfig
virtual	~BaseConfig ()=default
virtual std::string	Flatten ()

Additional Inherited Members
Protected Types inherited from rev::BaseConfig
using	ParameterType_t = std::variant<int32_t, uint32_t, float, bool>
Protected Member Functions inherited from rev::BaseConfig
	BaseConfig ()=default
	BaseConfig (const BaseConfig &)=default
BaseConfig &	operator= (const BaseConfig &)=delete
	BaseConfig (BaseConfig &&) noexcept=delete
BaseConfig &	operator= (BaseConfig &&) noexcept=delete
template<typename ParameterType >
void	PutParameter (uint8_t parameterId, ParameterType value)
std::optional< ParameterType_t >	GetParameter (uint8_t parameterId)
void	RemoveParameter (uint8_t parameterId)
void	Apply (BaseConfig &config)
Static Protected Member Functions inherited from rev::BaseConfig
static std::optional< ParameterType_t >	GetParameter (BaseConfig &fromConfig, uint8_t parameterId)
static void	RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)

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 & )

default

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

config

The 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

cpr	The 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

inverted

The phase of the encoder

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 8.

Parameters

depth

The 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 10ms (sample delta 20)

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

Parameters

periodMs

Measurement period in milliseconds

Returns

The modified EncoderConfig object for method chaining

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

• src/main/native/include/rev/config/EncoderConfig.h
• src/main/native/cpp/config/EncoderConfig.cpp