Package swervelib.encoders

Class CanAndCoderSwerve

java.lang.Object
swervelib.encoders.SwerveAbsoluteEncoder
swervelib.encoders.CanAndCoderSwerve
public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
HELIUM Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.

  • Field Details

    • encoder

      public com.reduxrobotics.sensors.canandcoder.Canandcoder encoder
      The Canandcoder representing the CANandCoder on the CAN bus.

  • Constructor Details

    • CanAndCoderSwerve

      public CanAndCoderSwerve(int canid)
      Create the Canandcoder
      Parameters:
      canid - The CAN ID whenever the CANandCoder is operating on the CANBus.

  • Method Details

    • 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 Canandcoder 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 Canandcoder.
      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.