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

    • encoder

      public com.ctre.phoenix.sensors.WPI_CANCoder encoder
      CANCoder with WPILib sendable and support.

  • 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.
      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.