Package com.revrobotics

Class SparkRelativeEncoder

java.lang.Object

com.revrobotics.SparkRelativeEncoder

All Implemented Interfaces:

CANEncoder, CANSensor, MotorFeedbackSensor, RelativeEncoder, SparkMaxRelativeEncoder

public class SparkRelativeEncoder
extends java.lang.Object
implements RelativeEncoder, SparkMaxRelativeEncoder

Get an instance of this class by using CANSparkMax.getEncoder(), CANSparkFlex.getEncoder(), or CANSparkBase.getEncoder(Type, int).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SparkRelativeEncoder.Type

Method Summary

Modifier and Type	Method	Description
int	getAverageDepth()	Get the velocity calculation process's sampling depth for a quadrature or hall sensor encoder.
int	getCountsPerRevolution()	Get the counts per revolution of the quadrature encoder.
boolean	getInverted()	Get the phase of the MotorFeedbackSensor.
int	getMeasurementPeriod()	Get the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder.
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.
REVLibError	setAverageDepth(int depth)	Set the sampling depth of the velocity calculation process for a quadrature or hall sensor encoder.
REVLibError	setInverted(boolean inverted)	Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself.
REVLibError	setMeasurementPeriod(int period_ms)	Set the position measurement period used to calculate the velocity of a quadrature or hall sensor encoder.
REVLibError	setPosition(double position)	Set the position of the encoder.
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.

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: 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 CANEncoder

Specified by:

getPosition in interface RelativeEncoder

Specified by:

getPosition in interface SparkMaxRelativeEncoder

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 CANEncoder

Specified by:

getVelocity in interface RelativeEncoder

Specified by:

getVelocity in interface SparkMaxRelativeEncoder

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 CANEncoder

Specified by:

setPosition in interface RelativeEncoder

Specified by:

setPosition in interface SparkMaxRelativeEncoder

Parameters:

position - Number of rotations of the motor

Returns:

REVLibError.kOk if successful

setPositionConversionFactor

public REVLibError setPositionConversionFactor(double factor)

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 interface CANEncoder

Specified by:

setPositionConversionFactor in interface RelativeEncoder

Specified by:

setPositionConversionFactor in interface SparkMaxRelativeEncoder

Parameters:

factor - The conversion factor to multiply the native units by

Returns:

REVLibError.kOk if successful

setVelocityConversionFactor

public REVLibError setVelocityConversionFactor(double factor)

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 interface CANEncoder

Specified by:

setVelocityConversionFactor in interface RelativeEncoder

Specified by:

setVelocityConversionFactor in interface SparkMaxRelativeEncoder

Parameters:

factor - The conversion factor to multiply the native units by

Returns:

REVLibError.kOk if successful

getPositionConversionFactor

public double getPositionConversionFactor()

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 interface CANEncoder

Specified by:

getPositionConversionFactor in interface RelativeEncoder

Specified by:

getPositionConversionFactor in interface SparkMaxRelativeEncoder

Returns:

The conversion factor for position

getVelocityConversionFactor

public double getVelocityConversionFactor()

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 interface CANEncoder

Specified by:

getVelocityConversionFactor in interface RelativeEncoder

Specified by:

getVelocityConversionFactor in interface SparkMaxRelativeEncoder

Returns:

The conversion factor for velocity

setAverageDepth

public REVLibError setAverageDepth(int depth)

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 interface CANEncoder

Specified by:

setAverageDepth in interface RelativeEncoder

Specified by:

setAverageDepth in interface SparkMaxRelativeEncoder

Parameters:

depth - The velocity calculation process's sampling depth

Returns:

REVLibError.kOk if successful

getAverageDepth

public int getAverageDepth()

Description copied from interface: RelativeEncoder

Get the velocity calculation process's sampling depth for a quadrature or hall sensor encoder.

Specified by:

getAverageDepth in interface CANEncoder

Specified by:

getAverageDepth in interface RelativeEncoder

Specified by:

getAverageDepth in interface SparkMaxRelativeEncoder

Returns:

The velocity calculation averaging process's sampling depth

setMeasurementPeriod

public REVLibError setMeasurementPeriod(int period_ms)

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 interface CANEncoder

Specified by:

setMeasurementPeriod in interface RelativeEncoder

Specified by:

setMeasurementPeriod in interface SparkMaxRelativeEncoder

Parameters:

period_ms - Measurement period in milliseconds

Returns:

REVLibError.kOk if successful

getMeasurementPeriod

public int getMeasurementPeriod()

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 interface CANEncoder

Specified by:

getMeasurementPeriod in interface RelativeEncoder

Specified by:

getMeasurementPeriod in interface SparkMaxRelativeEncoder

Returns:

The measurement period in milliseconds

getCountsPerRevolution

public int getCountsPerRevolution()

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 interface CANEncoder

Specified by:

getCountsPerRevolution in interface RelativeEncoder

Specified by:

getCountsPerRevolution in interface SparkMaxRelativeEncoder

Returns:

Counts per revolution

setInverted

public REVLibError setInverted(boolean inverted)

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 interface CANEncoder

Specified by:

setInverted in interface CANSensor

Specified by:

setInverted in interface MotorFeedbackSensor

Specified by:

setInverted in interface RelativeEncoder

Specified by:

setInverted in interface SparkMaxRelativeEncoder

Parameters:

inverted - The phase of the sensor

Returns:

REVLibError.kOk if successful

getInverted

public boolean getInverted()

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 interface CANEncoder

Specified by:

getInverted in interface CANSensor

Specified by:

getInverted in interface MotorFeedbackSensor

Specified by:

getInverted in interface RelativeEncoder

Specified by:

getInverted in interface SparkMaxRelativeEncoder

Returns:

The phase of the sensor