Package swervelib.encoders

Class TalonSRXEncoderSwerve

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

swervelib.encoders.TalonSRXEncoderSwerve

All Implemented Interfaces:

AutoCloseable

public class TalonSRXEncoderSwerve
extends SwerveAbsoluteEncoder

Talon SRX attached absolute encoder.

Field Summary

Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

maximumRetries, readingError

Constructor Summary

Constructors

Constructor	Description
TalonSRXEncoderSwerve(SwerveMotor motor, FeedbackDevice feedbackDevice)	Creates a TalonSRXEncoderSwerve.

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 at the Encoder Level.

Methods inherited from class java.lang.Object

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

Constructor Details

TalonSRXEncoderSwerve

public TalonSRXEncoderSwerve(SwerveMotor motor,
 FeedbackDevice feedbackDevice)

Creates a TalonSRXEncoderSwerve.

Parameters:

motor - motor to poll the sensor from.

feedbackDevice - the feedback device the sensor uses e.g. PWM or Analog.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in class SwerveAbsoluteEncoder

factoryDefault

public void factoryDefault()

Description copied from class: SwerveAbsoluteEncoder

Reset the encoder to factory defaults.

Specified by:

factoryDefault in class SwerveAbsoluteEncoder

clearStickyFaults

public void clearStickyFaults()

Description copied from class: SwerveAbsoluteEncoder

Clear sticky faults on the encoder.

Specified by:

clearStickyFaults in class SwerveAbsoluteEncoder

configure

public void configure(boolean inverted)

Description copied from class: SwerveAbsoluteEncoder

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()

Description copied from class: SwerveAbsoluteEncoder

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()

Description copied from class: SwerveAbsoluteEncoder

Get the instantiated absolute encoder Object.

Specified by:

getAbsoluteEncoder in class SwerveAbsoluteEncoder

Returns:

Absolute encoder object.

setAbsoluteEncoderOffset

public boolean setAbsoluteEncoderOffset(double offset)

Description copied from class: SwerveAbsoluteEncoder

Sets the Absolute Encoder offset at the Encoder Level.

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()

Description copied from class: SwerveAbsoluteEncoder

Get the velocity in degrees/sec.

Specified by:

getVelocity in class SwerveAbsoluteEncoder

Returns:

velocity in degrees/sec.