Class DetachedEncoder

java.lang.Object
com.revrobotics.NativeResourceCleaner
com.revrobotics.encoder.DetachedEncoder
All Implemented Interfaces:
RelativeEncoder, REVDevice
Direct Known Subclasses:
SplineEncoder
public abstract class DetachedEncoder extends NativeResourceCleaner implements REVDevice, RelativeEncoder

  • Field Details

  • Constructor Details

    • DetachedEncoder

      public DetachedEncoder(org.wpilib.hardware.bus.CANPort canPort, int id, DetachedEncoder.Model model)
      Create a new object to control a Detached Encoder
      Parameters:
      canPort - The CAN port this device is connected to.
      id - The device ID.
      model - The specific model of detached encoder

    • DetachedEncoder

      protected DetachedEncoder(int busId, int id, DetachedEncoder.Model model)
      Create a new object to control a Detached Encoder from a raw CAN bus ID. For internal tooling that manages buses not representable as a CANPort; getCanPort() will throw if the bus ID is not a valid CANPort value.
      Parameters:
      busId - The raw CAN bus ID this device is on.
      id - The device ID.
      model - The specific model of detached encoder

  • Method Details

    • getCanPort

      public org.wpilib.hardware.bus.CANPort getCanPort()
      Get the configured CAN port of the Detached Encoder.
      Returns:
      CANPort The CAN port this device is connected to

    • getDeviceId

      public int getDeviceId()
      Get the configured Device ID of the Detached encoder.
      Returns:
      int device ID

    • getModel

      public DetachedEncoder.Model getModel()
      Get the Model of this Detached Encoder Device. Useful for determining if this is a MAXSpline, or other device
      Returns:
      the model of this encoder

    • getPosition

      public Signal<Double> getPosition()
      Get the position of the encoder. This returns the native units of 'rotations'.
      Specified by:
      getPosition in interface RelativeEncoder
      Returns:
      Number of rotations of the encoder

    • getAngle

      public Signal<Double> getAngle()
      Get the absolute position of the encoder. This returns the native units of 'rotations' [0, 1).
      Returns:
      Number of rotations of the encoder

    • getRawAngle

      public Signal<Double> getRawAngle()
      Get the absolute position of the encoder. This returns the native units of 'rotations' [0, 1).
      Returns:
      Number of rotations of the encoder

    • getVelocity

      public Signal<Double> getVelocity()
      Get the velocity of the encoder. This returns the native units of 'RPM'.
      Specified by:
      getVelocity in interface RelativeEncoder
      Returns:
      Number the RPM of the encoder

    • setPosition

      public REVLibError setPosition(double position)
      Set the position of the encoder. The units are 'rotations'.
      Specified by:
      setPosition in interface RelativeEncoder
      Parameters:
      position - Number of rotations of the motor
      Returns:
      REVLibError.kOk if successful

    • getFaults

      public Signal<DetachedEncoder.Faults> getFaults()
      Get the active faults that are currently present on the detached encoder. Faults are fatal errors that prevent the encoder from functioning.
      Returns:
      A struct with each fault and their active value

    • getStickyFaults

      public Signal<DetachedEncoder.Faults> getStickyFaults()
      Get the sticky faults that were present on the detached encoder at one point since the sticky faults were last cleared. Faults are fatal errors that prevent the encoder from functioning.

      Sticky faults can be cleared with clearFaults().

      Returns:
      A struct with each fault and their sticky value

    • clearFaults

      public void clearFaults()
      Clears all sticky faults.

    • getFirmwareVersion

      public DetachedEncoder.FirmwareVersion getFirmwareVersion()
      Get the firmware version of the detached encoder.
      Returns:
      Firmware version object

    • configure

      public void configure(DetachedEncoderConfig config, ResetMode resetMode)
      Set the configuration for the Detached encoder.

      If resetMode is {com.revrobotics.ResetMode#kResetSafeParameters}, this method will reset safe writable parameters to their default values before setting the given configuration. The following parameters will not be reset by this action: CAN ID and Absolute (Duty Cycle) Zero Offset.

      Parameters:
      config - The desired Detached encoder configuration
      resetMode - Whether to reset safe parameters before setting the configuration

    • getStatus0

      public Signal<DetachedEncoder.PeriodicStatus0> getStatus0()
      Returns:
      periodic status 0, or null if it's not found

    • getStatus1

      public Signal<DetachedEncoder.PeriodicStatus1> getStatus1()
      Returns:
      periodic status 1, or null if it's not found

    • getStatus2

      public Signal<DetachedEncoder.PeriodicStatus2> getStatus2()
      Returns:
      periodic status 2, or null if it's not found

    • getStatus3

      public Signal<DetachedEncoder.PeriodicStatus3> getStatus3()
      Returns:
      periodic status 3, or null if it's not found

    • getStatus4

      public Signal<DetachedEncoder.PeriodicStatus4> getStatus4()
      Returns:
      periodic status 4, or null if it's not found

    • close

      public void close()
      Closes the Detached encoder controller

    • getCleanAction

      protected NativeResourceCleaner.OnClean getCleanAction()
      Description copied from class: NativeResourceCleaner
      Note: it is important that no reference to 'this' is taken in the implementation.
      Specified by:
      getCleanAction in class NativeResourceCleaner
      Returns:
      an action to run on clean