Package com.revrobotics

Interface AbsoluteEncoder

All Superinterfaces:

CANSensor, MotorFeedbackSensor

All Known Implementing Classes:

SparkMaxAbsoluteEncoder

public interface AbsoluteEncoder
extends MotorFeedbackSensor

Method Summary

Modifier and Type	Method	Description
int	getAverageDepth()	Get the average sampling depth for an absolute encoder
boolean	getInverted()	Get the phase of the AbsoluteEncoder
double	getPosition()	Get the position of the motor.
double	getPositionConversionFactor()	Get the conversion factor for position of the encoder.
double	getVelocity()	Get the velocity of the motor.
double	getVelocityConversionFactor()	Get the conversion factor for velocity of the encoder.
double	getZeroOffset()	Gets the zero offset for an absolute encoder (the position that is reported as zero).
REVLibError	setAverageDepth(int depth)	Set the average sampling depth for an absolute encoder.
REVLibError	setInverted(boolean inverted)	Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself
REVLibError	setPositionConversionFactor(double factor)	Set the conversion factor for position of the encoder.
REVLibError	setVelocityConversionFactor(double factor)	Set the conversion factor for velocity of the encoder.
REVLibError	setZeroOffset(double offset)	Sets the zero offset of an absolute encoder (the position that is reported as zero).

Method Detail

getPosition

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 setPositionConversionFactor().

Returns:

Number of rotations of the motor

getVelocity

double getVelocity()

Get the velocity of the motor. This returns the native units of 'rotations per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().

Returns:

Number of rotations per second of the motor

setPositionConversionFactor

REVLibError setPositionConversionFactor(double factor)

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

getPositionConversionFactor

double getPositionConversionFactor()

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

setVelocityConversionFactor

REVLibError setVelocityConversionFactor(double factor)

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

getVelocityConversionFactor

double getVelocityConversionFactor()

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

setInverted

REVLibError setInverted(boolean inverted)

Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself

Specified by:

setInverted in interface CANSensor

Specified by:

setInverted in interface MotorFeedbackSensor

Parameters:

inverted - The phase of the encoder

Returns:

REVLibError.kOk if successful

getInverted

boolean getInverted()

Get the phase of the AbsoluteEncoder

Specified by:

getInverted in interface CANSensor

Specified by:

getInverted in interface MotorFeedbackSensor

Returns:

The phase of the encoder

setAverageDepth

REVLibError setAverageDepth(int depth)

Set the average sampling depth for an absolute encoder. This is a bit size and should be either 1, 2, 4, 8, 16, 32, 64, or 128

Parameters:

depth - The average sampling depth of 1, 2, 4, 8, 16, 32, 64, or 128

Returns:

REVLibError.kOk if successful

getAverageDepth

int getAverageDepth()

Get the average sampling depth for an absolute encoder

Returns:

The average sampling depth

setZeroOffset

REVLibError setZeroOffset(double offset)

Sets the zero offset of an absolute encoder (the position that is reported as zero).

The zero offset is specified as the reported position of the encoder in the desired zero position, if the zero offset was set to 0. It is influenced by the absolute encoder's position conversion factor, and whether it is inverted.

Always call SetPositionConversionFactor() and SetInverted() before calling this function.

Parameters:

offset - The zero offset with the position conversion factor applied

Returns:

REVLibError.kOk if successful

getZeroOffset

double getZeroOffset()

Gets the zero offset for an absolute encoder (the position that is reported as zero).

The zero offset is specified as the reported position of the encoder in the desired zero position, if the zero offset was set to 0. It is influenced by the absolute encoder's position conversion factor, and whether it is inverted.

Returns:

The zero offset of the absolute encoder with the position conversion factor applied