Package swervelib.encoders

Class SwerveAbsoluteEncoder

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

Direct Known Subclasses:

AnalogAbsoluteEncoderSwerve, CanAndCoderSwerve, CANCoderSwerve, PWMDutyCycleEncoderSwerve, SparkMaxAnalogEncoderSwerve, SparkMaxEncoderSwerve

public abstract class SwerveAbsoluteEncoder
extends Object

Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..

Field Summary

Fields

Modifier and Type	Field	Description
final int	maximumRetries	The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
boolean	readingError	Last angle reading was faulty.

Constructor Summary

Constructors

Constructor	Description
SwerveAbsoluteEncoder()

Method Summary

Modifier and Type	Method	Description
abstract void	clearStickyFaults()	Clear sticky faults on the encoder.
abstract void	configure(boolean inverted)	Configure the absolute encoder to read from [0, 360) per second.
abstract void	factoryDefault()	Reset the encoder to factory defaults.
abstract Object	getAbsoluteEncoder()	Get the instantiated absolute encoder Object.
abstract double	getAbsolutePosition()	Get the absolute position of the encoder.
abstract double	getVelocity()	Get the velocity in degrees/sec.
abstract 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

Field Details

maximumRetries

public final int maximumRetries

The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.

See Also:

• Constant Field Values

readingError

public boolean readingError

Last angle reading was faulty.

Constructor Details

SwerveAbsoluteEncoder

public SwerveAbsoluteEncoder()

Method Details

factoryDefault

public abstract void factoryDefault()

Reset the encoder to factory defaults.

clearStickyFaults

public abstract void clearStickyFaults()

Clear sticky faults on the encoder.

configure

public abstract void configure(boolean inverted)

Configure the absolute encoder to read from [0, 360) per second.

Parameters:

inverted - Whether the encoder is inverted.

getAbsolutePosition

public abstract double getAbsolutePosition()

Get the absolute position of the encoder.

Returns:

Absolute position in degrees from [0, 360).

getAbsoluteEncoder

public abstract Object getAbsoluteEncoder()

Get the instantiated absolute encoder Object.

Returns:

Absolute encoder object.

setAbsoluteEncoderOffset

public abstract boolean setAbsoluteEncoderOffset(double offset)

Sets the Absolute Encoder offset at the Encoder Level.

Parameters:

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

Returns:

if setting Absolute Encoder Offset was successful or not.

getVelocity

public abstract double getVelocity()

Get the velocity in degrees/sec.

Returns:

velocity in degrees/sec.