Package com.revrobotics
Interface SparkMaxRelativeEncoder
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- All Superinterfaces:
CANEncoder
,CANSensor
,MotorFeedbackSensor
,RelativeEncoder
- All Known Implementing Classes:
SparkRelativeEncoder
@Deprecated(forRemoval=true) public interface SparkMaxRelativeEncoder extends RelativeEncoder
Deprecated, for removal: This API element is subject to removal in a future version.UseSparkRelativeEncoder
insteadGet an instance of this class by usingCANSparkMax.getEncoder()
orCANSparkBase.getEncoder(Type, int)
.
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Nested Class Summary
Nested Classes Modifier and Type Interface Description static class
SparkMaxRelativeEncoder.Type
Deprecated, for removal: This API element is subject to removal in a future version.UseSparkRelativeEncoder.Type
instead
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Method Summary
All Methods Instance Methods Abstract Methods Deprecated Methods Modifier and Type Method Description int
getAverageDepth()
Deprecated, for removal: This API element is subject to removal in a future version.Get the velocity calculation process's sampling depth for a quadrature or hall sensor encoder.int
getCountsPerRevolution()
Deprecated, for removal: This API element is subject to removal in a future version.Get the counts per revolution of the quadrature encoder.boolean
getInverted()
Deprecated, for removal: This API element is subject to removal in a future version.Get the phase of the MotorFeedbackSensor.int
getMeasurementPeriod()
Deprecated, for removal: This API element is subject to removal in a future version.Get the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder.double
getPosition()
Deprecated, for removal: This API element is subject to removal in a future version.Get the position of the motor.double
getPositionConversionFactor()
Deprecated, for removal: This API element is subject to removal in a future version.Get the conversion factor for position of the encoder.double
getVelocity()
Deprecated, for removal: This API element is subject to removal in a future version.Get the velocity of the motor.double
getVelocityConversionFactor()
Deprecated, for removal: This API element is subject to removal in a future version.Get the conversion factor for velocity of the encoder.REVLibError
setAverageDepth(int depth)
Deprecated, for removal: This API element is subject to removal in a future version.Set the sampling depth of the velocity calculation process for a quadrature or hall sensor encoder.REVLibError
setInverted(boolean inverted)
Deprecated, for removal: This API element is subject to removal in a future version.Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself.REVLibError
setMeasurementPeriod(int period_ms)
Deprecated, for removal: This API element is subject to removal in a future version.Set the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder.REVLibError
setPosition(double position)
Deprecated, for removal: This API element is subject to removal in a future version.Set the position of the encoder.REVLibError
setPositionConversionFactor(double factor)
Deprecated, for removal: This API element is subject to removal in a future version.Set the conversion factor for position of the encoder.REVLibError
setVelocityConversionFactor(double factor)
Deprecated, for removal: This API element is subject to removal in a future version.Set the conversion factor for velocity of the encoder.
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Method Detail
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getPosition
double getPosition()
Deprecated, for removal: This API element is subject to removal in a future version.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 interfaceCANEncoder
- Specified by:
getPosition
in interfaceRelativeEncoder
- Returns:
- Number of rotations of the motor
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getVelocity
double getVelocity()
Deprecated, for removal: This API element is subject to removal in a future version.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 interfaceCANEncoder
- Specified by:
getVelocity
in interfaceRelativeEncoder
- Returns:
- Number the RPM of the motor
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setPosition
REVLibError setPosition(double position)
Deprecated, for removal: This API element is subject to removal in a future version.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 interfaceCANEncoder
- Specified by:
setPosition
in interfaceRelativeEncoder
- Parameters:
position
- Number of rotations of the motor- Returns:
REVLibError.kOk
if successful
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setPositionConversionFactor
REVLibError setPositionConversionFactor(double factor)
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position.- Specified by:
setPositionConversionFactor
in interfaceCANEncoder
- Specified by:
setPositionConversionFactor
in interfaceRelativeEncoder
- Parameters:
factor
- The conversion factor to multiply the native units by- Returns:
REVLibError.kOk
if successful
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setVelocityConversionFactor
REVLibError setVelocityConversionFactor(double factor)
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Set the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity- Specified by:
setVelocityConversionFactor
in interfaceCANEncoder
- Specified by:
setVelocityConversionFactor
in interfaceRelativeEncoder
- Parameters:
factor
- The conversion factor to multiply the native units by- Returns:
REVLibError.kOk
if successful
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getPositionConversionFactor
double getPositionConversionFactor()
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Get the conversion factor for position of the encoder. Multiplied by the native output units to give you position- Specified by:
getPositionConversionFactor
in interfaceCANEncoder
- Specified by:
getPositionConversionFactor
in interfaceRelativeEncoder
- Returns:
- The conversion factor for position
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getVelocityConversionFactor
double getVelocityConversionFactor()
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Get the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity- Specified by:
getVelocityConversionFactor
in interfaceCANEncoder
- Specified by:
getVelocityConversionFactor
in interfaceRelativeEncoder
- Returns:
- The conversion factor for velocity
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setAverageDepth
REVLibError setAverageDepth(int depth)
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Set the sampling depth of the velocity calculation process for a quadrature or hall sensor 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). For a hall sensor, it must be either 1, 2, 4, or 8 (default).- Specified by:
setAverageDepth
in interfaceCANEncoder
- Specified by:
setAverageDepth
in interfaceRelativeEncoder
- Parameters:
depth
- The velocity calculation process's sampling depth- Returns:
REVLibError.kOk
if successful
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getAverageDepth
int getAverageDepth()
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Get the velocity calculation process's sampling depth for a quadrature or hall sensor encoder.- Specified by:
getAverageDepth
in interfaceCANEncoder
- Specified by:
getAverageDepth
in interfaceRelativeEncoder
- Returns:
- The velocity calculation averaging process's sampling depth
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setMeasurementPeriod
REVLibError setMeasurementPeriod(int period_ms)
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Set the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder. For a quadrature encoder, this number may be between 1 and 100 (default). For a hall sensor, this number may be between 8 and 64. The default for a hall sensor is 32ms.The basic formula to calculate velocity is change in position / change in time. This parameter sets the change in time for measurement.
- Specified by:
setMeasurementPeriod
in interfaceCANEncoder
- Specified by:
setMeasurementPeriod
in interfaceRelativeEncoder
- Parameters:
period_ms
- Measurement period in milliseconds- Returns:
REVLibError.kOk
if successful
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getMeasurementPeriod
int getMeasurementPeriod()
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Get the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder.- Specified by:
getMeasurementPeriod
in interfaceCANEncoder
- Specified by:
getMeasurementPeriod
in interfaceRelativeEncoder
- Returns:
- The measurement period in milliseconds
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getCountsPerRevolution
int getCountsPerRevolution()
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:RelativeEncoder
Get the counts per revolution of the quadrature encoder.For a description on the difference between CPR, PPR, etc. go to https://www.cuidevices.com/blog/what-is-encoder-ppr-cpr-and-lpr
- Specified by:
getCountsPerRevolution
in interfaceCANEncoder
- Specified by:
getCountsPerRevolution
in interfaceRelativeEncoder
- Returns:
- Counts per revolution
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setInverted
REVLibError setInverted(boolean inverted)
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:MotorFeedbackSensor
Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself. This only works for quadrature encoders and analog sensors. This will throw an error if the user tries to set the inversion of the hall sensor.- Specified by:
setInverted
in interfaceCANEncoder
- Specified by:
setInverted
in interfaceCANSensor
- Specified by:
setInverted
in interfaceMotorFeedbackSensor
- Specified by:
setInverted
in interfaceRelativeEncoder
- Parameters:
inverted
- The phase of the sensor- Returns:
REVLibError.kOk
if successful
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getInverted
boolean getInverted()
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:MotorFeedbackSensor
Get the phase of the MotorFeedbackSensor. This will just return false if the user tries to get the inversion of the hall sensor.- Specified by:
getInverted
in interfaceCANEncoder
- Specified by:
getInverted
in interfaceCANSensor
- Specified by:
getInverted
in interfaceMotorFeedbackSensor
- Specified by:
getInverted
in interfaceRelativeEncoder
- Returns:
- The phase of the sensor
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