Package swervelib.encoders

Class CANCoderSwerve

java.lang.Object
swervelib.encoders.SwerveAbsoluteEncoder
swervelib.encoders.CANCoderSwerve
public class CANCoderSwerve extends SwerveAbsoluteEncoder
Swerve Absolute Encoder for CTRE CANCoders.

  • Field Details

    • STATUS_TIMEOUT_SECONDS

      public static double STATUS_TIMEOUT_SECONDS
      Wait time for status frames to show up.

    • encoder

      public com.ctre.phoenix6.hardware.CANcoder encoder
      CANCoder with WPILib sendable and support.

    • magnetFieldLessThanIdeal

      private Alert magnetFieldLessThanIdeal
      An Alert for if the CANCoder magnet field is less than ideal.

    • readingFaulty

      private Alert readingFaulty
      An Alert for if the CANCoder reading is faulty.

    • readingIgnored

      private Alert readingIgnored
      An Alert for if the CANCoder reading is faulty and the reading is ignored.

    • cannotSetOffset

      private Alert cannotSetOffset
      An Alert for if the absolute encoder offset cannot be set.

  • 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.
      canbus - CAN bus to initialize it on.

  • Method Details

    • 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.