Package frc.robot.subsystems.swervedrive2.swervelib.encoders

Class SparkMaxEncoderSwerve

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder

frc.robot.subsystems.swervedrive2.swervelib.encoders.SparkMaxEncoderSwerve

public class SparkMaxEncoderSwerve
extends SwerveAbsoluteEncoder

SparkMax absolute encoder, attached through the data port.

Field Summary

Fields

Modifier and Type	Field	Description
com.revrobotics.AbsoluteEncoder	encoder	The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.

Constructor Summary

Constructors

Constructor	Description
SparkMaxEncoderSwerve(SwerveMotor motor)	Create the AbsoluteEncoder object as a duty cycle.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults on the encoder.
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.

Methods inherited from class java.lang.Object

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

Field Detail

encoder

public com.revrobotics.AbsoluteEncoder encoder

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

Constructor Detail

SparkMaxEncoderSwerve

public SparkMaxEncoderSwerve(SwerveMotor motor)

Create the AbsoluteEncoder object as a duty cycle. from the CANSparkMax motor.

Parameters:

motor - Motor to create the encoder from.

Method Detail

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.

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.