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.

    • inverted

      private boolean inverted
      Inversion state of the encoder.

  • 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.
      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.

    • getVelocity

      public double getVelocity()
      Get the velocity in degrees/sec.
      Specified by:
      getVelocity in class SwerveAbsoluteEncoder
      Returns:
      velocity in degrees/sec.