Interface RelativeEncoder

All Known Implementing Classes:

DetachedEncoder, SparkFlexExternalEncoder, SparkMaxAlternateEncoder, SparkRelativeEncoder, SplineEncoder

public interface RelativeEncoder

Get an instance of this interface by using SparkBase.getEncoder(), SparkMax.getAlternateEncoder(), or SparkFlex.getExternalEncoder().

Method Summary

Modifier and Type	Method	Description
Signal<Double>	getPosition()	Get the position of the motor.
Signal<Double>	getVelocity()	Get the velocity of the motor.
REVLibError	setPosition(double position)	Set the position of the encoder.

Method Details

getPosition

Signal<Double> getPosition()

Get the position of the motor. This returns the native units of 'rotations' by default, and can be changed by a scale factor using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double).

Returns:

Number of rotations of the motor

getVelocity

Signal<Double> getVelocity()

Get the velocity of the motor. This returns the native units of 'RPM' by default, and can be changed by a scale factor using AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double).

Returns:

Number the RPM of the motor

setPosition

REVLibError setPosition(double position)

Set the position of the encoder. By default the units are 'rotations' and can be changed by a scale factor using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double).

Parameters:

position - Number of rotations of the motor

Returns:

REVLibError.kOk if successful