rev::spark::ExternalEncoderConfig Class Reference

#include <ExternalEncoderConfig.h>

Inherits rev::BaseConfig.

Classes
struct	Presets

Public Types
enum	Type { kQuadrature = 0 }

Public Member Functions
	ExternalEncoderConfig ()=default
	~ExternalEncoderConfig () override=default
	ExternalEncoderConfig (const ExternalEncoderConfig &)=default
ExternalEncoderConfig &	operator= (const ExternalEncoderConfig &)=delete
	ExternalEncoderConfig (ExternalEncoderConfig &&) noexcept=delete
ExternalEncoderConfig &	operator= (ExternalEncoderConfig &&) noexcept=delete
ExternalEncoderConfig &	Apply (ExternalEncoderConfig &config)
ExternalEncoderConfig &	CountsPerRevolution (int cpr)
ExternalEncoderConfig &	Inverted (bool inverted)
ExternalEncoderConfig &	AverageDepth (int depth)
ExternalEncoderConfig &	MeasurementPeriod (int periodMs)
Public Member Functions inherited from rev::BaseConfig
virtual	~BaseConfig ()=default
virtual std::string	Flatten ()

Static Public Member Functions
static Type	FromId (int id)

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)

Member Enumeration Documentation

Type

enum rev::spark::ExternalEncoderConfig::Type

Enumerator
kQuadrature

Constructor & Destructor Documentation

ExternalEncoderConfig() [1/3]

rev::spark::ExternalEncoderConfig::ExternalEncoderConfig ( )

default

~ExternalEncoderConfig()

rev::spark::ExternalEncoderConfig::~ExternalEncoderConfig ( )

overridedefault

ExternalEncoderConfig() [2/3]

rev::spark::ExternalEncoderConfig::ExternalEncoderConfig ( const ExternalEncoderConfig & )

default

ExternalEncoderConfig() [3/3]

rev::spark::ExternalEncoderConfig::ExternalEncoderConfig ( ExternalEncoderConfig && )

deletenoexcept

Member Function Documentation

FromId()

static Type rev::spark::ExternalEncoderConfig::FromId ( int id )

inlinestatic

operator=() [1/2]

ExternalEncoderConfig & rev::spark::ExternalEncoderConfig::operator= ( const ExternalEncoderConfig & )

delete

operator=() [2/2]

ExternalEncoderConfig & rev::spark::ExternalEncoderConfig::operator= ( ExternalEncoderConfig && )

deletenoexcept

Apply()

ExternalEncoderConfig & ExternalEncoderConfig::Apply

(

ExternalEncoderConfig &

config

)

Applies settings from another ExternalEncoderConfig 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 ExternalEncoderConfig to copy settings from

Returns

The updated ExternalEncoderConfig for method chaining

CountsPerRevolution()

ExternalEncoderConfig & ExternalEncoderConfig::CountsPerRevolution

(

int

cpr

)

Set the counts per revolutions of the External encoder.

Parameters

cpr	The counts per rotation

Returns

The modified ExternalEncoderConfig object for method chaining

Inverted()

ExternalEncoderConfig & ExternalEncoderConfig::Inverted

(

bool

inverted

)

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

Parameters

inverted

The phase of the encoder

Returns

The modified ExternalEncoderConfig object for method chaining

AverageDepth()

ExternalEncoderConfig & ExternalEncoderConfig::AverageDepth

(

int

depth

)

Set the sampling depth of the velocity calculation process of the external 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 is 8.

Parameters

depth

The velocity calculation process's sampling depth

Returns

The modified ExternalEncoderConfig object for method chaining

MeasurementPeriod()

ExternalEncoderConfig & ExternalEncoderConfig::MeasurementPeriod

(

int

periodMs

)

Set the position measurement period used to calculate the velocity of the external encoder. For a quadrature encoder, this number may be between 1 and 100. Default 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 ExternalEncoderConfig 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/ExternalEncoderConfig.h
• src/main/native/cpp/config/ExternalEncoderConfig.cpp