SwerveAbsoluteEncoder

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

Direct Known Subclasses:: CANCoderSwerve, SparkMaxEncoderSwerve

public abstract class SwerveAbsoluteEncoder extends Object

Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..

Constructor Summary

Constructors

Constructor

Description

SwerveAbsoluteEncoder()
Method Summary

Modifier and Type

Method

Description

abstract void

clearStickyFaults()

Clear sticky faults on the encoder.

abstract void

configure(boolean inverted)

Configure the absolute encoder to read from [0, 360) per second.

abstract void

factoryDefault()

Reset the encoder to factory defaults.

abstract Object

getAbsoluteEncoder()

Get the instantiated absolute encoder Object.

abstract 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

Constructor Details
- SwerveAbsoluteEncoder
  
  public SwerveAbsoluteEncoder()
Method Details
- factoryDefault
  
  public abstract void factoryDefault()
  
  Reset the encoder to factory defaults.
- clearStickyFaults
  
  public abstract void clearStickyFaults()
  
  Clear sticky faults on the encoder.
- configure
  
  public abstract void configure(boolean inverted)
  
  Configure the absolute encoder to read from [0, 360) per second.
  
  Parameters:
  
  inverted - Whether the encoder is inverted.
- getAbsolutePosition
  
  public abstract double getAbsolutePosition()
  
  Get the absolute position of the encoder.
  
  Returns:
  
  Absolute position in degrees from [0, 360).
- getAbsoluteEncoder
  
  public abstract Object getAbsoluteEncoder()
  
  Get the instantiated absolute encoder Object.
  
  Returns:
  
  Absolute encoder object.