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Package swervelib.encoders
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Class SparkMaxAnalogEncoderSwerve

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java.lang.Object +
swervelib.encoders.SwerveAbsoluteEncoder +
swervelib.encoders.SparkMaxAnalogEncoderSwerve
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public class SparkMaxAnalogEncoderSwerve +extends SwerveAbsoluteEncoder
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SparkMax absolute encoder, attached through the data port analog pin.
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    Field Details

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      encoder

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      public com.revrobotics.SparkMaxAnalogSensor encoder
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      The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
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    Constructor Details

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      SparkMaxAnalogEncoderSwerve

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      public SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
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      Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data port analog pin.
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      Parameters:
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      motor - Motor to create the encoder from.
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    Method Details

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      configureSparkMax

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      private void configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
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      Run the configuration until it succeeds or times out.
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      Parameters:
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      config - Lambda supplier returning the error state.
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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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      configure

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      public void configure(boolean inverted)
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      Configure the absolute encoder to read from [0, 360) per second.
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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 instantiated absolute 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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      Absolute encoder object.
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      getVelocity

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