Package swervelib.encoders
Class AnalogAbsoluteEncoderSwerve
java.lang.Object
swervelib.encoders.SwerveAbsoluteEncoder
swervelib.encoders.AnalogAbsoluteEncoderSwerve
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
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Field Summary
Modifier and TypeFieldDescriptionprivate Alert
AnAlert
for if the absolute encoder offset cannot be set.edu.wpi.first.wpilibj.AnalogInput
Encoder as Analog Input.private Alert
AnAlert
detailing how the analog absolute encoder may not report accurate velocities.private boolean
Inversion state of the encoder.Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder
maximumRetries, readingError
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Constructor Summary
ConstructorDescriptionAnalogAbsoluteEncoderSwerve
(int channel) Construct the Encoder given the analog input channel.AnalogAbsoluteEncoderSwerve
(edu.wpi.first.wpilibj.AnalogInput encoder) Construct the Thrifty Encoder as a Swerve Absolute Encoder. -
Method Summary
Modifier and TypeMethodDescriptionvoid
Clear sticky faults on the encoder.void
configure
(boolean inverted) Configure the absolute encoder to read from [0, 360) per second.void
Reset the encoder to factory defaults.Get the instantiated absolute encoder Object.double
Get the absolute position of the encoder.double
Get the velocity in degrees/sec.boolean
setAbsoluteEncoderOffset
(double offset) Cannot Set the offset of an Analog Absolute Encoder.
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Field Details
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encoder
public edu.wpi.first.wpilibj.AnalogInput encoderEncoder as Analog Input. -
inverted
private boolean invertedInversion state of the encoder. -
cannotSetOffset
AnAlert
for if the absolute encoder offset cannot be set. -
inaccurateVelocities
AnAlert
detailing how the analog absolute encoder may not report accurate velocities.
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Constructor Details
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AnalogAbsoluteEncoderSwerve
public AnalogAbsoluteEncoderSwerve(edu.wpi.first.wpilibj.AnalogInput encoder) Construct the Thrifty Encoder as a Swerve Absolute Encoder.- Parameters:
encoder
- Encoder to construct.
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AnalogAbsoluteEncoderSwerve
public AnalogAbsoluteEncoderSwerve(int channel) Construct the Encoder given the analog input channel.- Parameters:
channel
- Analog Input channel of which the encoder resides.
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Method Details
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factoryDefault
public void factoryDefault()Reset the encoder to factory defaults.- Specified by:
factoryDefault
in classSwerveAbsoluteEncoder
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clearStickyFaults
public void clearStickyFaults()Clear sticky faults on the encoder.- Specified by:
clearStickyFaults
in classSwerveAbsoluteEncoder
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configure
public void configure(boolean inverted) Configure the absolute encoder to read from [0, 360) per second.- Specified by:
configure
in classSwerveAbsoluteEncoder
- Parameters:
inverted
- Whether the encoder is inverted.
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getAbsolutePosition
public double getAbsolutePosition()Get the absolute position of the encoder.- Specified by:
getAbsolutePosition
in classSwerveAbsoluteEncoder
- Returns:
- Absolute position in degrees from [0, 360).
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getAbsoluteEncoder
Get the instantiated absolute encoder Object.- Specified by:
getAbsoluteEncoder
in classSwerveAbsoluteEncoder
- Returns:
- Absolute encoder object.
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setAbsoluteEncoderOffset
public boolean setAbsoluteEncoderOffset(double offset) Cannot Set the offset of an Analog Absolute Encoder.- Specified by:
setAbsoluteEncoderOffset
in classSwerveAbsoluteEncoder
- Parameters:
offset
- the offset the Absolute Encoder uses as the zero point.- Returns:
- Will always be false as setting the offset is unsupported of an Analog absolute encoder.
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getVelocity
public double getVelocity()Get the velocity in degrees/sec.- Specified by:
getVelocity
in classSwerveAbsoluteEncoder
- Returns:
- velocity in degrees/sec.
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