Package swervelib.encoders

Class SparkFlexEncoderSwerve

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

swervelib.encoders.SparkFlexEncoderSwerve

All Implemented Interfaces:

AutoCloseable

public class SparkFlexEncoderSwerve
extends SwerveAbsoluteEncoder

SparkFlex absolute encoder, attached through the data port.

Field Summary

Fields

Modifier and Type	Field	Description
SparkAbsoluteEncoder	encoder	The AbsoluteEncoder representing the duty cycle encoder attached to the SparkFlex.

Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

maximumRetries, readingError

Constructor Summary

Constructors

Constructor	Description
SparkFlexEncoderSwerve(SwerveMotor motor, int conversionFactor)	Create the SparkFlexEncoderSwerve object as a duty cycle from the SparkFlex motor.

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 inside of the SparkFlex's Memory.
void	setConversionFactor(double conversionFactor)	Set the conversion factor of the SparkFlexEncoderSwerve.

Methods inherited from class java.lang.Object

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

Field Details

encoder

public SparkAbsoluteEncoder encoder

The AbsoluteEncoder representing the duty cycle encoder attached to the SparkFlex.

Constructor Details

SparkFlexEncoderSwerve

public SparkFlexEncoderSwerve(SwerveMotor motor,
 int conversionFactor)

Create the SparkFlexEncoderSwerve object as a duty cycle from the SparkFlex motor.

Parameters:

motor - Motor to create the encoder from.

conversionFactor - The conversion factor to set if the output is not from 0 to 360.

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.

setConversionFactor

public void setConversionFactor(double conversionFactor)

Set the conversion factor of the SparkFlexEncoderSwerve.

Parameters:

conversionFactor - Position conversion factor from ticks to unit.

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)

Sets the Absolute Encoder Offset inside of the SparkFlex's Memory.

Specified by:

setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder

Parameters:

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

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.