docs/swervelib/encoders/CANCoderSwerve.html

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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.encoders</a></div>
<h1 title="Class CANCoderSwerve" class="title">Class CANCoderSwerve</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance"><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">swervelib.encoders.SwerveAbsoluteEncoder</a>
<div class="inheritance">swervelib.encoders.CANCoderSwerve</div>
</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CANCoderSwerve</span>
<span class="extends-implements">extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
<div class="block">Swerve Absolute Encoder for CTRE CANCoders.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second even-row-color"><code><a href="#cannotSetOffset" class="member-name-link">cannotSetOffset</a></code></div>
<div class="col-last even-row-color">
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the absolute encoder offset cannot be set.</div>
</div>
<div class="col-first odd-row-color"><code>com.ctre.phoenix6.hardware.CANcoder</code></div>
<div class="col-second odd-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last odd-row-color">
<div class="block">CANCoder with WPILib sendable and support.</div>
</div>
<div class="col-first even-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second even-row-color"><code><a href="#magnetFieldLessThanIdeal" class="member-name-link">magnetFieldLessThanIdeal</a></code></div>
<div class="col-last even-row-color">
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the CANCoder magnet field is less than ideal.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second odd-row-color"><code><a href="#readingFaulty" class="member-name-link">readingFaulty</a></code></div>
<div class="col-last odd-row-color">
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the CANCoder reading is faulty.</div>
</div>
<div class="col-first even-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second even-row-color"><code><a href="#readingIgnored" class="member-name-link">readingIgnored</a></code></div>
<div class="col-last even-row-color">
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the CANCoder reading is faulty and the reading is ignored.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wait time for status frames to show up.</div>
</div>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a>, <a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">CANCoderSwerve</a><wbr>(int&nbsp;id)</code></div>
<div class="col-last even-row-color">
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(int,java.lang.String)" class="member-name-link">CANCoderSwerve</a><wbr>(int&nbsp;id,
 <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;canbus)</code></div>
<div class="col-last odd-row-color">
<div class="block">Initialize the CANCoder on the CANivore.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on the encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configure(boolean)" class="member-name-link">configure</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset the encoder to factory defaults.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated absolute encoder Object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the absolute position of the encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the velocity in degrees/sec.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoderOffset(double)" class="member-name-link">setAbsoluteEncoderOffset</a><wbr>(double&nbsp;offset)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Sets the Absolute Encoder Offset within the CANcoder's Memory.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="STATUS_TIMEOUT_SECONDS">
<h3>STATUS_TIMEOUT_SECONDS</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">STATUS_TIMEOUT_SECONDS</span></div>
<div class="block">Wait time for status frames to show up.</div>
</section>
</li>
<li>
<section class="detail" id="encoder">
<h3>encoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">com.ctre.phoenix6.hardware.CANcoder</span>&nbsp;<span class="element-name">encoder</span></div>
<div class="block">CANCoder with WPILib sendable and support.</div>
</section>
</li>
<li>
<section class="detail" id="magnetFieldLessThanIdeal">
<h3>magnetFieldLessThanIdeal</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">magnetFieldLessThanIdeal</span></div>
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the CANCoder magnet field is less than ideal.</div>
</section>
</li>
<li>
<section class="detail" id="readingFaulty">
<h3>readingFaulty</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">readingFaulty</span></div>
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the CANCoder reading is faulty.</div>
</section>
</li>
<li>
<section class="detail" id="readingIgnored">
<h3>readingIgnored</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">readingIgnored</span></div>
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the CANCoder reading is faulty and the reading is ignored.</div>
</section>
</li>
<li>
<section class="detail" id="cannotSetOffset">
<h3>cannotSetOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">cannotSetOffset</span></div>
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if the absolute encoder offset cannot be set.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(int)">
<h3>CANCoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CANCoderSwerve</span><wbr><span class="parameters">(int&nbsp;id)</span></div>
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>id</code> - CAN ID.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(int,java.lang.String)">
<h3>CANCoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CANCoderSwerve</span><wbr><span class="parameters">(int&nbsp;id,
 <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;canbus)</span></div>
<div class="block">Initialize the CANCoder on the CANivore.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>id</code> - CAN ID.</dd>
<dd><code>canbus</code> - CAN bus to initialize it on.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset the encoder to factory defaults.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on the encoder.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="configure(boolean)">
<h3>configure</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configure</span><wbr><span class="parameters">(boolean&nbsp;inverted)</span></div>
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Parameters:</dt>
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAbsolutePosition()">
<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position of the encoder. Sets <a href="SwerveAbsoluteEncoder.html#readingError"><code>SwerveAbsoluteEncoder.readingError</code></a> on erroneous readings.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Returns:</dt>
<dd>Absolute position in degrees from [0, 360).</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAbsoluteEncoder()">
<h3>getAbsoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getAbsoluteEncoder</span>()</div>
<div class="block">Get the instantiated absolute encoder Object.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Returns:</dt>
<dd>Absolute encoder object.</dd>
</dl>
</section>
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<li>
<section class="detail" id="setAbsoluteEncoderOffset(double)">
<h3>setAbsoluteEncoderOffset</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">setAbsoluteEncoderOffset</span><wbr><span class="parameters">(double&nbsp;offset)</span></div>
<div class="block">Sets the Absolute Encoder Offset within the CANcoder's Memory.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#setAbsoluteEncoderOffset(double)">setAbsoluteEncoderOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Parameters:</dt>
<dd><code>offset</code> - the offset the Absolute Encoder uses as the zero point in degrees.</dd>
<dt>Returns:</dt>
<dd>if setting Absolute Encoder Offset was successful or not.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getVelocity()">
<h3>getVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getVelocity</span>()</div>
<div class="block">Get the velocity in degrees/sec.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Returns:</dt>
<dd>velocity in degrees/sec.</dd>
</dl>
</section>
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</ul>
</section>
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</section>
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