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 Details

    • encoder

      private final edu.wpi.first.wpilibj.DutyCycleEncoder encoder
      Duty Cycle Encoder.

    • isInverted

      private boolean isInverted
      Inversion state.

    • inaccurateVelocities

      private Alert inaccurateVelocities
      An Alert for if the encoder cannot report accurate velocities.

  • 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)
      Sets the offset of the Encoder in the WPILib Encoder Library.
      Specified by:
      setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
      Parameters:
      offset - the offset the Absolute Encoder uses as the zero point.
      Returns:
      Always true due to no external device commands.