RelativeEncoder (FRC-REVLib API)

All Known Implementing Classes:: SparkFlexExternalEncoder, SparkMaxAlternateEncoder, SparkRelativeEncoder

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

double

getPosition()

Get the position of the motor.

double

getVelocity()

Get the velocity of the motor.

REVLibError

setPosition(double position)

Set the position of the encoder.

Method Details
- 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 AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double).
  
  Returns:
  
  Number of rotations of the motor
- getVelocity
  
  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