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Package swervelib.encoders
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Class PWMDutyCycleEncoderSwerve

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java.lang.Object +
swervelib.encoders.SwerveAbsoluteEncoder +
swervelib.encoders.PWMDutyCycleEncoderSwerve
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public class PWMDutyCycleEncoderSwerve +extends SwerveAbsoluteEncoder
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DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag + Encoder." attached via a PWM lane. +

+ Credits to + + p2reneker25 for building this.

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    Field Details

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      encoder

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      private final edu.wpi.first.wpilibj.DutyCycleEncoder encoder
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      Duty Cycle Encoder.
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      isInverted

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      private boolean isInverted
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      Inversion state.
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    Constructor Details

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      PWMDutyCycleEncoderSwerve

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      public PWMDutyCycleEncoderSwerve(int pin)
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      Constructor for the PWM duty cycle encoder.
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      Parameters:
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      pin - PWM lane for the encoder.
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    Method Details

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      configure

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      public void configure(boolean inverted)
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      Configure the inversion state of the encoder.
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      Specified by:
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      configure in class SwerveAbsoluteEncoder
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      Parameters:
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      inverted - Whether the encoder is inverted.
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      getAbsolutePosition

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      public double getAbsolutePosition()
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      Get the absolute position of the encoder.
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      Specified by:
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      getAbsolutePosition in class SwerveAbsoluteEncoder
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      Returns:
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      Absolute position in degrees from [0, 360).
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      getAbsoluteEncoder

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      public Object getAbsoluteEncoder()
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      Get the encoder object.
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      Specified by:
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      getAbsoluteEncoder in class SwerveAbsoluteEncoder
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      Returns:
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      DutyCycleEncoder from the class.
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      factoryDefault

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      public void factoryDefault()
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      Reset the encoder to factory defaults.
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      Specified by:
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      factoryDefault in class SwerveAbsoluteEncoder
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      clearStickyFaults

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      public void clearStickyFaults()
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      Clear sticky faults on the encoder.
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      Specified by:
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      clearStickyFaults in class SwerveAbsoluteEncoder
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