Package swervelib.encoders

Class CANCoderSwerve

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

swervelib.encoders.CANCoderSwerve

All Implemented Interfaces:

AutoCloseable

public class CANCoderSwerve
extends SwerveAbsoluteEncoder

Swerve Absolute Encoder for CTRE CANCoders.

Field Summary

Fields

Modifier and Type	Field	Description
CANcoder	encoder	CANCoder with WPILib sendable and support.
static double	STATUS_TIMEOUT_SECONDS	Wait time for status frames to show up.

Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

maximumRetries, readingError

Constructor Summary

Constructors

Constructor	Description
CANCoderSwerve(int id)	Initialize the CANCoder on the standard CANBus.
CANCoderSwerve(int id, String canbus)	Initialize the CANCoder on the CANivore.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults on the encoder.
void	close()
void	configure(boolean inverted)	Configure the absolute encoder to read from [0, 360) per second.
void	factoryDefault()	Reset the encoder to factory defaults.
Object	getAbsoluteEncoder()	Get the instantiated absolute 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 within the CANcoder's Memory.

Methods inherited from class java.lang.Object

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

Field Details

STATUS_TIMEOUT_SECONDS

public static double STATUS_TIMEOUT_SECONDS

Wait time for status frames to show up.

encoder

public CANcoder encoder

CANCoder with WPILib sendable and support.

Constructor Details

CANCoderSwerve

public CANCoderSwerve(int id)

Initialize the CANCoder on the standard CANBus.

Parameters:

id - CAN ID.

CANCoderSwerve

public CANCoderSwerve(int id,
 String canbus)

Initialize the CANCoder on the CANivore.

Parameters:

id - CAN ID of the CANcoder.

canbus - CAN bus to initialize it on. Should be "rio" or "" if the RIO CANbus, else is the CANivore name.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in class SwerveAbsoluteEncoder

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

configure

public void configure(boolean inverted)

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

Specified by:

configure in class SwerveAbsoluteEncoder

Parameters:

inverted - Whether the encoder is inverted.

getAbsolutePosition

public double getAbsolutePosition()

Get the absolute position of the encoder. Sets SwerveAbsoluteEncoder.readingError on erroneous readings.

Specified by:

getAbsolutePosition in class SwerveAbsoluteEncoder

Returns:

Absolute position in degrees from [0, 360).

getAbsoluteEncoder

public Object getAbsoluteEncoder()

Get the instantiated absolute encoder Object.

Specified by:

getAbsoluteEncoder in class SwerveAbsoluteEncoder

Returns:

Absolute encoder object.

setAbsoluteEncoderOffset

public boolean setAbsoluteEncoderOffset(double offset)

Sets the Absolute Encoder Offset within the CANcoder's Memory.

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.

getVelocity

public double getVelocity()

Get the velocity in degrees/sec.

Specified by:

getVelocity in class SwerveAbsoluteEncoder

Returns:

velocity in degrees/sec.