Package com.revrobotics.sim

Class SparkFlexExternalEncoderSim

java.lang.Object
com.revrobotics.sim.SparkFlexExternalEncoderSim
public class SparkFlexExternalEncoderSim extends Object

  • Constructor Summary

    Constructors
    Constructor
    Description
    SparkFlexExternalEncoderSim(SparkFlex motor)
    Create a Spark Flex External Encoder simulation object for a Spark Flex.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    getInverted()
    Get the inversion state of the sensor
    double
    getPosition()
    Get the position of the sensor, with the conversion factor applied
    double
    getPositionConversionFactor()
    Get the position conversion factor of the sensor (1 by default)
    double
    getVelocity()
    Get the velocity of the sensor, with the conversion factor applied
    double
    getVelocityConversionFactor()
    Get the velocity conversion factor of the sensor (1 by default)
    double
    getZeroOffset()
    Get the zero offset of the sensor
    void
    iterate(double velocity, double dt)
    Move the sensor at the input velocity
    void
    setInverted(boolean inverted)
    Set the inversion state of the sensor
    void
    setPosition(double position)
    Set the position of the sensor, after your conversion factor
    void
    setVelocity(double velocity)
    Set the velocity of the sensor, after the conversion factor
    void
    setZeroOffset(double zeroOffset)
    Set the zero offset of the sensor

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • SparkFlexExternalEncoderSim

      public SparkFlexExternalEncoderSim(SparkFlex motor)
      Create a Spark Flex External Encoder simulation object for a Spark Flex. This will allow you to read/write data from the simulated sensor and view it in the Sim GUI.
      Parameters:
      motor - The CANSparkFlex associated with the sensor

  • Method Details

    • setPosition

      public void setPosition(double position)
      Set the position of the sensor, after your conversion factor
      Parameters:
      position - the position to set

    • getPosition

      public double getPosition()
      Get the position of the sensor, with the conversion factor applied
      Returns:
      the position of the sensor

    • setVelocity

      public void setVelocity(double velocity)
      Set the velocity of the sensor, after the conversion factor
      Parameters:
      velocity - the velocity to set

    • getVelocity

      public double getVelocity()
      Get the velocity of the sensor, with the conversion factor applied
      Returns:
      the velocity of the sensor

    • setInverted

      public void setInverted(boolean inverted)
      Set the inversion state of the sensor
      Parameters:
      inverted - if the sensor is inverted or not

    • getInverted

      public boolean getInverted()
      Get the inversion state of the sensor
      Returns:
      if the sensor is inverted or not

    • setZeroOffset

      public void setZeroOffset(double zeroOffset)
      Set the zero offset of the sensor
      Parameters:
      zeroOffset - the zero offset to apply

    • getZeroOffset

      public double getZeroOffset()
      Get the zero offset of the sensor
      Returns:
      the zero offset of the sensor

    • getPositionConversionFactor

      public double getPositionConversionFactor()
      Get the position conversion factor of the sensor (1 by default)
      Returns:
      the conversion factor

    • getVelocityConversionFactor

      public double getVelocityConversionFactor()
      Get the velocity conversion factor of the sensor (1 by default)
      Returns:
      the conversion factor

    • iterate

      public void iterate(double velocity, double dt)
      Move the sensor at the input velocity
      Parameters:
      velocity - the velocity of the sensor
      dt - the time interval of the calculation