Package com.revrobotics

Class SparkAnalogSensor

java.lang.Object

com.revrobotics.SparkAnalogSensor

All Implemented Interfaces:

AnalogInput, CANAnalog, CANSensor, MotorFeedbackSensor, SparkMaxAnalogSensor

public class SparkAnalogSensor
extends java.lang.Object
implements AnalogInput, SparkMaxAnalogSensor

Get an instance of this class by using CANSparkBase.getAnalog(Mode).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SparkAnalogSensor.Mode

Nested classes/interfaces inherited from interface com.revrobotics.CANAnalog

CANAnalog.AnalogMode

Method Summary

Modifier and Type	Method	Description
boolean	getInverted()	Get the phase of the analog sensor
double	getPosition()	Get the position of the sensor.
double	getPositionConversionFactor()	Get the current conversion factor for the position of the analog sensor.
double	getVelocity()	Get the velocity of the sensor.
double	getVelocityConversionFactor()	Get the current conversion factor for the velocity of the analog sensor.
double	getVoltage()	Get the voltage of the analog sensor.
REVLibError	setInverted(boolean inverted)	Set the phase of the anlog sensor so that it is set to be in phase with the motor itself
REVLibError	setPositionConversionFactor(double factor)	Set the conversion factor for the position of the analog sensor.
REVLibError	setVelocityConversionFactor(double factor)	Set the conversion factor for the velocity of the analog sensor.

Methods inherited from class java.lang.Object

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

Method Detail

getVoltage

public double getVoltage()

Get the voltage of the analog sensor.

Specified by:

getVoltage in interface AnalogInput

Specified by:

getVoltage in interface CANAnalog

Specified by:

getVoltage in interface SparkMaxAnalogSensor

Returns:

Voltage of the sensor.

getPosition

public double getPosition()

Get the position of the sensor. Returns value in the native unit of 'volt' by default, and can be changed by a scale factor using setPositionConversionFactor().

Specified by:

getPosition in interface AnalogInput

Specified by:

getPosition in interface CANAnalog

Specified by:

getPosition in interface SparkMaxAnalogSensor

Returns:

Position of the sensor

getVelocity

public double getVelocity()

Get the velocity of the sensor. Returns value in the native units of 'volts per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().

Specified by:

getVelocity in interface CANAnalog

Specified by:

getVelocity in interface SparkMaxAnalogSensor

Returns:

Velocity of the sensor in volts per second

setPositionConversionFactor

public REVLibError setPositionConversionFactor(double factor)

Set the conversion factor for the position of the analog sensor. By default, revolutions per volt is 1. Changing the position conversion factor will also change the position units.

Specified by:

setPositionConversionFactor in interface AnalogInput

Specified by:

setPositionConversionFactor in interface CANAnalog

Specified by:

setPositionConversionFactor in interface SparkMaxAnalogSensor

Parameters:

factor - The conversion factor which will be multiplied by volts

Returns:

REVLibError.kOk if successful

setVelocityConversionFactor

public REVLibError setVelocityConversionFactor(double factor)

Set the conversion factor for the velocity of the analog sensor. By default, revolutions per volt second is 1. Changing the velocity conversion factor will also change the velocity units.

Specified by:

setVelocityConversionFactor in interface CANAnalog

Specified by:

setVelocityConversionFactor in interface SparkMaxAnalogSensor

Parameters:

factor - The conversion factor which will be multiplied by volts per second

Returns:

REVLibError.kOk if successful

getPositionConversionFactor

public double getPositionConversionFactor()

Get the current conversion factor for the position of the analog sensor.

Specified by:

getPositionConversionFactor in interface AnalogInput

Specified by:

getPositionConversionFactor in interface CANAnalog

Specified by:

getPositionConversionFactor in interface SparkMaxAnalogSensor

Returns:

Analog position conversion factor

getVelocityConversionFactor

public double getVelocityConversionFactor()

Get the current conversion factor for the velocity of the analog sensor.

Specified by:

getVelocityConversionFactor in interface CANAnalog

Specified by:

getVelocityConversionFactor in interface SparkMaxAnalogSensor

Returns:

Analog velocity conversion factor

setInverted

public REVLibError setInverted(boolean inverted)

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

Specified by:

setInverted in interface CANAnalog

Specified by:

setInverted in interface CANSensor

Specified by:

setInverted in interface MotorFeedbackSensor

Specified by:

setInverted in interface SparkMaxAnalogSensor

Parameters:

inverted - The phase of the sensor

Returns:

REVLibError.kOk if successful

getInverted

public boolean getInverted()

Get the phase of the analog sensor

Specified by:

getInverted in interface CANAnalog

Specified by:

getInverted in interface CANSensor

Specified by:

getInverted in interface MotorFeedbackSensor

Specified by:

getInverted in interface SparkMaxAnalogSensor

Returns:

The phase of the sensor