Package swervelib.encoders

Class CanAndMagSwerve

java.lang.Object
swervelib.encoders.SwerveAbsoluteEncoder
swervelib.encoders.CanAndMagSwerve
All Implemented Interfaces:
AutoCloseable
public class CanAndMagSwerve extends SwerveAbsoluteEncoder
HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.

  • Field Details

    • encoder

      public com.reduxrobotics.sensors.canandmag.Canandmag encoder
      The Canandmag representing the CANandMag on the CAN bus.

    • settings

      public com.reduxrobotics.sensors.canandmag.CanandmagSettings settings
      The Canandmag settings object to use.

  • Constructor Details

    • CanAndMagSwerve

      public CanAndMagSwerve(int canid)
      Create the Canandmag
      Parameters:
      canid - The CAN ID whenever the CANandMag is operating on the CANBus.

  • 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.

      This will not clear the stored zero offset.

      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 CANandMag 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.
      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)
      Cannot set the offset of the CANandMag.
      Specified by:
      setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
      Parameters:
      offset - the offset the Absolute Encoder uses as the zero point.
      Returns:
      true if setting the zero point succeeded, false otherwise

    • getVelocity

      public double getVelocity()
      Get the velocity in degrees/sec.
      Specified by:
      getVelocity in class SwerveAbsoluteEncoder
      Returns:
      velocity in degrees/sec.