README updated

2026-06-29 07:01:41 +00:00 · 2023-01-29 21:18:52 -06:00
parent 1ebb040393
commit 87b6b249dd
108 changed files with 4093 additions and 0 deletions
--- a/swervelib/encoders/CTRECANCoder.java
+++ b/swervelib/encoders/CTRECANCoder.java
@@ -0,0 +1,111 @@
+package frc.robot.subsystems.swervedrive.swerve.encoders;
+
+import com.ctre.phoenix.sensors.AbsoluteSensorRange;
+import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix.sensors.CANCoderConfiguration;
+import com.ctre.phoenix.sensors.MagnetFieldStrength;
+import com.ctre.phoenix.sensors.SensorInitializationStrategy;
+import com.ctre.phoenix.sensors.SensorTimeBase;
+import frc.robot.subsystems.swervedrive.swerve.SwerveEncoder;
+
+public class CTRECANCoder extends SwerveEncoder<CANCoder>
+{
+
+  /**
+   * Create SwerveEncoder based off CANCoder.
+   *
+   * @param encoder CANCoder to use.
+   */
+  public CTRECANCoder(CANCoder encoder)
+  {
+    m_encoder = encoder;
+  }
+
+  /**
+   * Configure the absolute encoder if possible.
+   */
+  public void configure()
+  {
+    CANCoderConfiguration sensorConfig = new CANCoderConfiguration();
+
+    sensorConfig.absoluteSensorRange = AbsoluteSensorRange.Unsigned_0_to_360;
+    sensorConfig.initializationStrategy = SensorInitializationStrategy.BootToAbsolutePosition;
+    sensorConfig.sensorTimeBase = SensorTimeBase.PerSecond;
+    m_encoder.configAllSettings(sensorConfig);
+  }
+
+  /**
+   * Get the magnetic field strength, if available.
+   *
+   * @return CTRE MagneticFieldStrength Enum.
+   */
+  @Override
+  public MagnetFieldStrength getMagnetFieldStrength()
+  {
+    return m_encoder.getMagnetFieldStrength();
+  }
+
+  /**
+   * Get the absolute position in degrees.
+   *
+   * @return Absolute position (0, 360]
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return m_encoder.getAbsolutePosition();
+  }
+
+  /**
+   * Get the velocity of the absolute encoder in degrees per second.
+   *
+   * @return Velocity in degrees per second.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return m_encoder.getVelocity();
+  }
+
+  /**
+   * Configure the magnetic offset for the AbsoluteEncoder.
+   *
+   * @param offset Offset in degrees.
+   */
+  @Override
+  public void setOffset(double offset)
+  {
+    m_encoder.configMagnetOffset(offset);
+  }
+
+  /**
+   * Is the encoder reachable?
+   *
+   * @return True if reachable, false otherwise.
+   */
+  @Override
+  public boolean reachable()
+  {
+    return m_encoder.getFirmwareVersion() > 0;
+  }
+
+  /**
+   * Configure the sensor direction
+   *
+   * @param isInverted Inverted or not.
+   */
+  @Override
+  public void setInverted(boolean isInverted)
+  {
+    m_encoder.configSensorDirection(isInverted);
+  }
+
+  /**
+   * Reset encoder to factory default settings, if possible.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    m_encoder.configFactoryDefault();
+  }
+}