Package com.revrobotics

Class SparkAbsoluteEncoder

java.lang.Object

com.revrobotics.SparkAbsoluteEncoder

All Implemented Interfaces:

AbsoluteEncoder, CANSensor, MotorFeedbackSensor, SparkMaxAbsoluteEncoder

public class SparkAbsoluteEncoder
extends java.lang.Object
implements AbsoluteEncoder, SparkMaxAbsoluteEncoder

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SparkAbsoluteEncoder.Type

Method Summary

Modifier and Type	Method	Description
int	getAverageDepth()	Get the average sampling depth for an absolute encoder
boolean	getInverted()	Get the phase of the AbsoluteEncoder
double	getPosition()	Get the position of the motor.
double	getPositionConversionFactor()	Get the conversion factor for position of the encoder.
double	getVelocity()	Get the velocity of the motor.
double	getVelocityConversionFactor()	Get the conversion factor for velocity of the encoder.
double	getZeroOffset()	Gets the zero offset for an absolute encoder (the position that is reported as zero).
REVLibError	setAverageDepth(int depth)	Set the average sampling depth for an absolute encoder.
REVLibError	setInverted(boolean inverted)	Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself
REVLibError	setPositionConversionFactor(double factor)	Set the conversion factor for position of the encoder.
REVLibError	setVelocityConversionFactor(double factor)	Set the conversion factor for velocity of the encoder.
REVLibError	setZeroOffset(double offset)	Sets the zero offset of an absolute encoder (the position that is reported as zero).

Methods inherited from class java.lang.Object

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

Method Detail

getPosition

public double getPosition()

Description copied from interface: AbsoluteEncoder

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 AbsoluteEncoder

Specified by:

getPosition in interface SparkMaxAbsoluteEncoder

Returns:

Number of rotations of the motor

getVelocity

public double getVelocity()

Description copied from interface: AbsoluteEncoder

Get the velocity of the motor. This returns the native units of 'rotations per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().

Specified by:

getVelocity in interface AbsoluteEncoder

Specified by:

getVelocity in interface SparkMaxAbsoluteEncoder

Returns:

Number of rotations per second of the motor

setPositionConversionFactor

public REVLibError setPositionConversionFactor(double factor)

Description copied from interface: AbsoluteEncoder

Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position

Specified by:

setPositionConversionFactor in interface AbsoluteEncoder

Specified by:

setPositionConversionFactor in interface SparkMaxAbsoluteEncoder

Parameters:

factor - The conversion factor to multiply the native units by

Returns:

REVLibError.kOk if successful

getPositionConversionFactor

public double getPositionConversionFactor()

Description copied from interface: AbsoluteEncoder

Get the conversion factor for position of the encoder. Multiplied by the native output units to give you position

Specified by:

getPositionConversionFactor in interface AbsoluteEncoder

Specified by:

getPositionConversionFactor in interface SparkMaxAbsoluteEncoder

Returns:

The conversion factor for position

setVelocityConversionFactor

public REVLibError setVelocityConversionFactor(double factor)

Description copied from interface: AbsoluteEncoder

Set the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity

Specified by:

setVelocityConversionFactor in interface AbsoluteEncoder

Specified by:

setVelocityConversionFactor in interface SparkMaxAbsoluteEncoder

Parameters:

factor - The conversion factor to multiply the native units by

Returns:

REVLibError.kOk if successful

getVelocityConversionFactor

public double getVelocityConversionFactor()

Description copied from interface: AbsoluteEncoder

Get the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity

Specified by:

getVelocityConversionFactor in interface AbsoluteEncoder

Specified by:

getVelocityConversionFactor in interface SparkMaxAbsoluteEncoder

Returns:

The conversion factor for velocity

setInverted

public REVLibError setInverted(boolean inverted)

Description copied from interface: AbsoluteEncoder

Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself

Specified by:

setInverted in interface AbsoluteEncoder

Specified by:

setInverted in interface CANSensor

Specified by:

setInverted in interface MotorFeedbackSensor

Specified by:

setInverted in interface SparkMaxAbsoluteEncoder

Parameters:

inverted - The phase of the encoder

Returns:

REVLibError.kOk if successful

getInverted

public boolean getInverted()

Description copied from interface: AbsoluteEncoder

Get the phase of the AbsoluteEncoder

Specified by:

getInverted in interface AbsoluteEncoder

Specified by:

getInverted in interface CANSensor

Specified by:

getInverted in interface MotorFeedbackSensor

Specified by:

getInverted in interface SparkMaxAbsoluteEncoder

Returns:

The phase of the encoder

setAverageDepth

public REVLibError setAverageDepth(int depth)

Description copied from interface: AbsoluteEncoder

Set the average sampling depth for an absolute encoder. This is a bit size and should be either 1, 2, 4, 8, 16, 32, 64, or 128

Specified by:

setAverageDepth in interface AbsoluteEncoder

Specified by:

setAverageDepth in interface SparkMaxAbsoluteEncoder

Parameters:

depth - The average sampling depth of 1, 2, 4, 8, 16, 32, 64, or 128

Returns:

REVLibError.kOk if successful

getAverageDepth

public int getAverageDepth()

Description copied from interface: AbsoluteEncoder

Get the average sampling depth for an absolute encoder

Specified by:

getAverageDepth in interface AbsoluteEncoder

Specified by:

getAverageDepth in interface SparkMaxAbsoluteEncoder

Returns:

The average sampling depth

setZeroOffset

public REVLibError setZeroOffset(double offset)

Description copied from interface: AbsoluteEncoder

Sets the zero offset of an absolute encoder (the position that is reported as zero).

The zero offset is specified as the reported position of the encoder in the desired zero position, if the zero offset was set to 0. It is influenced by the absolute encoder's position conversion factor, and whether it is inverted.

Always call SetPositionConversionFactor() and SetInverted() before calling this function.

Specified by:

setZeroOffset in interface AbsoluteEncoder

Specified by:

setZeroOffset in interface SparkMaxAbsoluteEncoder

Parameters:

offset - The zero offset with the position conversion factor applied

Returns:

REVLibError.kOk if successful

getZeroOffset

public double getZeroOffset()

Description copied from interface: AbsoluteEncoder

Gets the zero offset for an absolute encoder (the position that is reported as zero).

The zero offset is specified as the reported position of the encoder in the desired zero position, if the zero offset was set to 0. It is influenced by the absolute encoder's position conversion factor, and whether it is inverted.

Specified by:

getZeroOffset in interface AbsoluteEncoder

Specified by:

getZeroOffset in interface SparkMaxAbsoluteEncoder

Returns:

The zero offset of the absolute encoder with the position conversion factor applied