Package com.revrobotics.spark

Class SparkRelativeEncoder

java.lang.Object

com.revrobotics.spark.SparkRelativeEncoder

All Implemented Interfaces:

RelativeEncoder

public class SparkRelativeEncoder
extends Object
implements RelativeEncoder

Get an instance of this class by using SparkBase.getEncoder().

Method Summary

Modifier and Type	Method	Description
double	getPosition()	Get the position of the motor.
double	getVelocity()	Get the velocity of the motor.
REVLibError	setPosition(double position)	Set the position of the encoder.

Methods inherited from class java.lang.Object

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

Method Details

getPosition

public double getPosition()

Description copied from interface: RelativeEncoder

Get the position of the motor. This returns the native units of 'rotations' by default, and can be changed by a scale factor using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double).

Specified by:

getPosition in interface RelativeEncoder

Returns:

Number of rotations of the motor

getVelocity

public double getVelocity()

Description copied from interface: RelativeEncoder

Get the velocity of the motor. This returns the native units of 'RPM' by default, and can be changed by a scale factor using AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double).

Specified by:

getVelocity in interface RelativeEncoder

Returns:

Number the RPM of the motor

setPosition

public REVLibError setPosition(double position)

Description copied from interface: RelativeEncoder

Set the position of the encoder. By default the units are 'rotations' and can be changed by a scale factor using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double).

Specified by:

setPosition in interface RelativeEncoder

Parameters:

position - Number of rotations of the motor

Returns:

REVLibError.kOk if successful