Interface CANEncoder

    • Method Summary

      All Methods Instance Methods Abstract Methods Deprecated Methods 
      Modifier and Type Method Description
      int getAverageDepth()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the average sampling depth for a quadrature encoder.
      int getCountsPerRevolution()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the counts per revolution of the quadrature encoder.
      boolean getInverted()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the phase of the MotorFeedbackSensor.
      int getMeasurementPeriod()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the number of samples for reading from a quadrature encoder.
      double getPosition()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the position of the motor.
      double getPositionConversionFactor()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the conversion factor for position of the encoder.
      double getVelocity()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the velocity of the motor.
      double getVelocityConversionFactor()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the conversion factor for velocity of the encoder.
      REVLibError setAverageDepth​(int depth)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the average sampling depth for a quadrature encoder.
      REVLibError setInverted​(boolean inverted)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself.
      REVLibError setMeasurementPeriod​(int period_ms)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the measurement period for velocity measurements of a quadrature encoder.
      REVLibError setPosition​(double position)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the position of the encoder.
      REVLibError setPositionConversionFactor​(double factor)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the conversion factor for position of the encoder.
      REVLibError setVelocityConversionFactor​(double factor)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the conversion factor for velocity of the encoder.
    • Method Detail

      • getPosition

        double getPosition()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the position of the motor. This returns the native units of 'rotations' by default, and can be changed by a scale factor using setPositionConversionFactor().
        Returns:
        Number of rotations of the motor
      • getVelocity

        double getVelocity()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the velocity of the motor. This returns the native units of 'RPM' by default, and can be changed by a scale factor using setVelocityConversionFactor().
        Returns:
        Number the RPM of the motor
      • setPosition

        REVLibError setPosition​(double position)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Set the position of the encoder. By default the units are 'rotations' and can be changed by a scale factor using setPositionConversionFactor().
        Parameters:
        position - Number of rotations of the motor
        Returns:
        REVLibError.kOk if successful
      • setPositionConversionFactor

        REVLibError setPositionConversionFactor​(double factor)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position.
        Parameters:
        factor - The conversion factor to multiply the native units by
        Returns:
        REVLibError.kOk if successful
      • setVelocityConversionFactor

        REVLibError setVelocityConversionFactor​(double factor)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Set the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity
        Parameters:
        factor - The conversion factor to multiply the native units by
        Returns:
        REVLibError.kOk if successful
      • getPositionConversionFactor

        double getPositionConversionFactor()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the conversion factor for position of the encoder. Multiplied by the native output units to give you position
        Returns:
        The conversion factor for position
      • getVelocityConversionFactor

        double getVelocityConversionFactor()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity
        Returns:
        The conversion factor for velocity
      • setAverageDepth

        REVLibError setAverageDepth​(int depth)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Set the average sampling depth for a quadrature encoder. This value sets the number of samples in the average for velocity readings. This can be any value from 1 to 64.

        When the SparkMax controller is in Brushless mode, this will not change any behavior.

        Parameters:
        depth - The average sampling depth between 1 and 64 (default)
        Returns:
        REVLibError.kOk if successful
      • getAverageDepth

        int getAverageDepth()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the average sampling depth for a quadrature encoder.
        Returns:
        The average sampling depth
      • setMeasurementPeriod

        REVLibError setMeasurementPeriod​(int period_ms)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Set the measurement period for velocity measurements of a quadrature encoder. When the SparkMax controller is in Brushless mode, this will not change any behavior.

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

        Parameters:
        period_ms - Measurement period in milliseconds. This number may be between 1 and 100 (default).
        Returns:
        REVLibError.kOk if successful
      • getMeasurementPeriod

        int getMeasurementPeriod()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the number of samples for reading from a quadrature encoder.
        Returns:
        Number of samples
      • getCountsPerRevolution

        int getCountsPerRevolution()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Get the counts per revolution of the quadrature encoder.

        For a description on the difference between CPR, PPR, etc. go to https://www.cuidevices.com/blog/what-is-encoder-ppr-cpr-and-lpr

        Returns:
        Counts per revolution
      • setInverted

        REVLibError setInverted​(boolean inverted)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Description copied from interface: MotorFeedbackSensor
        Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself. This only works for quadrature encoders and analog sensors. This will throw an error if the user tries to set the inversion of the hall sensor.
        Specified by:
        setInverted in interface CANSensor
        Specified by:
        setInverted in interface MotorFeedbackSensor
        Parameters:
        inverted - The phase of the sensor
        Returns:
        REVLibError.kOk if successful
      • getInverted

        boolean getInverted()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Description copied from interface: MotorFeedbackSensor
        Get the phase of the MotorFeedbackSensor. This will just return false if the user tries to get the inversion of the hall sensor.
        Specified by:
        getInverted in interface CANSensor
        Specified by:
        getInverted in interface MotorFeedbackSensor
        Returns:
        The phase of the sensor