Package swervelib.encoders

Class PWMDutyCycleEncoderSwerve

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

swervelib.encoders.PWMDutyCycleEncoderSwerve

public class PWMDutyCycleEncoderSwerve
extends SwerveAbsoluteEncoder

DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder." attached via a PWM lane.

Credits to p2reneker25 for building this.

Field Summary

Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

maximumRetries, readingError

Constructor Summary

Constructors

Constructor	Description
PWMDutyCycleEncoderSwerve(int pin)	Constructor for the PWM duty cycle encoder.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults on the encoder.
void	configure(boolean inverted)	Configure the inversion state of the encoder.
void	factoryDefault()	Reset the encoder to factory defaults.
Object	getAbsoluteEncoder()	Get the encoder object.
double	getAbsolutePosition()	Get the absolute position of the encoder.
double	getVelocity()	Get the velocity in degrees/sec.
boolean	setAbsoluteEncoderOffset(double offset)	Sets the Absolute Encoder offset at the Encoder Level.

Methods inherited from class java.lang.Object

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

Constructor Details

PWMDutyCycleEncoderSwerve

public PWMDutyCycleEncoderSwerve(int pin)

Constructor for the PWM duty cycle encoder.

Parameters:

pin - PWM lane for the encoder.

Method Details

configure

public void configure(boolean inverted)

Configure the inversion state of the encoder.

Specified by:

configure in class SwerveAbsoluteEncoder

Parameters:

inverted - Whether the encoder is inverted.

getAbsolutePosition

public double getAbsolutePosition()

Get the absolute position of the encoder.

Specified by:

getAbsolutePosition in class SwerveAbsoluteEncoder

Returns:

Absolute position in degrees from [0, 360).

getAbsoluteEncoder

public Object getAbsoluteEncoder()

Get the encoder object.

Specified by:

getAbsoluteEncoder in class SwerveAbsoluteEncoder

Returns:

DutyCycleEncoder from the class.

getVelocity

public double getVelocity()

Get the velocity in degrees/sec.

Specified by:

getVelocity in class SwerveAbsoluteEncoder

Returns:

velocity in degrees/sec.

factoryDefault

public void factoryDefault()

Reset the encoder to factory defaults.

Specified by:

factoryDefault in class SwerveAbsoluteEncoder

clearStickyFaults

public void clearStickyFaults()

Clear sticky faults on the encoder.

Specified by:

clearStickyFaults in class SwerveAbsoluteEncoder

setAbsoluteEncoderOffset

public boolean setAbsoluteEncoderOffset(double offset)

Description copied from class: SwerveAbsoluteEncoder

Sets the Absolute Encoder offset at the Encoder Level.

Specified by:

setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder

Parameters:

offset - the offset the Absolute Encoder uses as the zero point in degrees.

Returns:

if setting Absolute Encoder Offset was successful or not.