Package com.revrobotics

Interface RelativeEncoder

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 setPositionConversionFactor().
      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 setVelocityConversionFactor().
      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 setPositionConversionFactor().
      Parameters:
      position - Number of rotations of the motor
      Returns:
      REVLibError.kOk if successful