Package com.revrobotics.sim

Class SparkRelativeEncoderSim

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

  • Constructor Details

    • SparkRelativeEncoderSim

      public SparkRelativeEncoderSim(SparkMax motor)
      Create a Spark Absolute Encoder simulation object for a Spark MAX. This will allow you to read/write data from the simulated sensor and view it in the Sim GUI.
      Parameters:
      motor - The CANSparkMax associated with the sensor

    • SparkRelativeEncoderSim

      public SparkRelativeEncoderSim(SparkFlex motor)
      Create a Spark Absolute 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

    • setPositionConversionFactor

      public void setPositionConversionFactor(double positionConversionFactor)
      Set the position conversion factor of the sensor (1 by default)
      Parameters:
      positionConversionFactor - the factor to apply

    • getPositionConversionFactor

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

    • setVelocityConversionFactor

      public void setVelocityConversionFactor(double velocityConversionFactor)
      Set the velocity conversion factor of the sensor (1 by default)
      Parameters:
      velocityConversionFactor - the factor to apply

    • 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