Class AlternateEncoderConfig

java.lang.Object
com.revrobotics.config.BaseConfig
com.revrobotics.spark.config.AlternateEncoderConfig
public class AlternateEncoderConfig extends BaseConfig

  • Constructor Details

    • AlternateEncoderConfig

      public AlternateEncoderConfig()
      Create a new object to configure an AlternateEncoder.

  • Method Details

    • apply

      public AlternateEncoderConfig apply(AlternateEncoderConfig config)
      Applies settings from another AlternateEncoderConfig to this one.

      Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

      Parameters:
      config - The AlternateEncoderConfig to copy settings from
      Returns:
      The updated AlternateEncoderConfig for method chaining

    • setSparkMaxDataPortConfig

      public AlternateEncoderConfig setSparkMaxDataPortConfig()
      Configures the data port to use the alternate encoder, which is specifically required for SPARK MAX.

      NOTE: This method is only necessary when using an alternate encoder with a SPARK MAX without configuring any of its settings

      IMPORTANT: SPARK MAX does not support using an alternate encoder in conjunction with an absolute encoder and/or limit switches.

      Returns:
      The modified AlternateEncoderConfig object for method chaining

    • countsPerRevolution

      public AlternateEncoderConfig countsPerRevolution(int cpr)
      Set the counts per revolutions of the alternate encoder.
      Parameters:
      cpr - The counts per rotation
      Returns:
      The modified AlternateEncoderConfig object for method chaining

    • inverted

      public AlternateEncoderConfig inverted(boolean inverted)
      Set the phase of the alternate encoder so that it is in phase with the motor itself.
      Parameters:
      inverted - The phase of the encoder
      Returns:
      The modified AlternateEncoderConfig object for method chaining

    • averageDepth

      public AlternateEncoderConfig averageDepth(int depth)
      Set the sampling depth of the velocity calculation process of the alternate encoder. This value sets the number of samples in the average for velocity readings. For a quadrature encoder, this can be any value from 1 to 64. Default is 8.
      Parameters:
      depth - The velocity calculation process's sampling depth
      Returns:
      The modified AlternateEncoderConfig object for method chaining

    • measurementPeriod

      public AlternateEncoderConfig measurementPeriod(int periodMs)
      Set the position measurement period used to calculate the velocity of the alternate encoder. For a quadrature encoder, this number may be between 1 and 100. Default is 10ms (sample delta 20).

      The basic formula to calculate velocity is change in position / change in time. This parameter sets the change in time for measurement.

      Parameters:
      periodMs - Measurement period in milliseconds
      Returns:
      The modified AlternateEncoderConfig object for method chaining