Package com.revrobotics.spark.config

Class EncoderConfig

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

  • Constructor Details

    • EncoderConfig

      public EncoderConfig()

  • Method Details

    • apply

      public EncoderConfig apply(EncoderConfig config)
      Applies settings from another EncoderConfig 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 EncoderConfig to copy settings from
      Returns:
      The updated EncoderConfig for method chaining

    • countsPerRevolution

      public EncoderConfig countsPerRevolution(int cpr)
      Set the counts per revolutions of the encoder.

      NOTE: This only applies to an encoder used in brushed mode.

      Parameters:
      cpr - The counts per rotation
      Returns:
      The modified EncoderConfig object for method chaining

    • inverted

      public EncoderConfig inverted(boolean inverted)
      Set the phase of the encoder so that it is in phase with the motor itself.

      NOTE: This only applies to an encoder used in brushed mode.

      Parameters:
      inverted - The phase of the encoder
      Returns:
      The modified EncoderConfig object for method chaining

    • positionConversionFactor

      public EncoderConfig positionConversionFactor(double factor)
      Set the conversion factor for the position of the encoder. Position is returned in native units of rotations and will be multiplied by this conversion factor.
      Parameters:
      factor - The conversion factor to multiply the native units by
      Returns:
      The modified EncoderConfig object for method chaining

    • velocityConversionFactor

      public EncoderConfig velocityConversionFactor(double factor)
      Set the conversion factor for the velocity of the encoder. Velocity is returned in native units of rotations per minute and will be multiplied by this conversion factor.
      Parameters:
      factor - The conversion factor to multiply the native units by
      Returns:
      The modified EncoderConfig object for method chaining

    • quadratureAverageDepth

      public EncoderConfig quadratureAverageDepth(int depth)
      Set the sampling depth of the velocity calculation process of the encoder. This value sets the number of samples in the average for velocity readings. This value must be in the range [1, 64]. The default value is 64.
      Parameters:
      depth - The velocity calculation process's sampling depth
      Returns:
      The modified EncoderConfig object for method chaining

    • quadratureMeasurementPeriod

      public EncoderConfig quadratureMeasurementPeriod(int periodMs)
      Set the position measurement period used to calculate the velocity of the encoder. This value is in units of milliseconds and must be in a range [1, 100]. The default value is 100ms

      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 EncoderConfig object for method chaining

    • uvwAverageDepth

      public EncoderConfig uvwAverageDepth(int depth)
      Set the sampling depth of the velocity calculation process of the encoder. This value sets the number of samples in the average for velocity readings. This value must be either 1, 2, 4, or 8 (default).
      Parameters:
      depth - The velocity calculation process's sampling depth
      Returns:
      The modified EncoderConfig object for method chaining

    • uvwMeasurementPeriod

      public EncoderConfig uvwMeasurementPeriod(int periodMs)
      Set the position measurement period used to calculate the velocity of the encoder. This value is in units of milliseconds and must be in a range [8, 64]. The default value is 32ms.

      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 EncoderConfig object for method chaining