SparkRelativeEncoder (FRC-REVLib API)

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 setPositionConversionFactor().
  
  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 setVelocityConversionFactor().
  
  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 setPositionConversionFactor().
  
  Specified by:
  
  setPosition in interface RelativeEncoder
  
  Parameters:
  
  position - Number of rotations of the motor
  
  Returns:
  
  REVLibError.kOk if successful