Package com.revrobotics.spark.config

Class ExternalEncoderConfig

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

  • Constructor Details

    • ExternalEncoderConfig

      public ExternalEncoderConfig()

  • Method Details

    • apply

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

    • countsPerRevolution

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

    • inverted

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

    • positionConversionFactor

      public ExternalEncoderConfig positionConversionFactor(double factor)
      Set the conversion factor for the position of the external 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 ExternalEncoderConfig object for method chaining

    • velocityConversionFactor

      public ExternalEncoderConfig velocityConversionFactor(double factor)
      Set the conversion factor for the velocity of the external 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 ExternalEncoderConfig object for method chaining

    • averageDepth

      public ExternalEncoderConfig averageDepth(int depth)
      Set the sampling depth of the velocity calculation process of the external 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).
      Parameters:
      depth - The velocity calculation process's sampling depth
      Returns:
      The modified ExternalEncoderConfig object for method chaining

    • measurementPeriod

      public ExternalEncoderConfig measurementPeriod(int periodMs)
      Set the position measurement period used to calculate the velocity of the external encoder. For a quadrature encoder, this number may be between 1 and 100 (default).

      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 ExternalEncoderConfig object for method chaining