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Updated Javadocs, added ability to push offset to absolute encoders.

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This commit is contained in:
thenetworkgrinch
2023-12-12 10:48:54 -06:00
parent aef91407ea
commit f03926627d
123 changed files with 685 additions and 283 deletions
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21
swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
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@@ -1,6 +1,5 @@
package swervelib.encoders;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.REVLibError;
import com.revrobotics.SparkMaxAnalogSensor;
@@ -16,14 +15,15 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
{
/**
* The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax.
* The {@link SparkMaxAnalogSensor} representing the duty cycle encoder attached to the SparkMax analog port.
*/
public SparkMaxAnalogSensor encoder;
/**
* Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data port analog pin.
* Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data
* port analog pin.
*
* @param motor Motor to create the encoder from.
* @param motor Motor to create the encoder from.
*/
public SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
{
@@ -104,6 +104,19 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
return encoder;
}
/**
* Sets the Absolute Encoder offset at the Encoder Level.
*
* @param offset the offset the Absolute Encoder uses as the zero point.
* @return if setting Absolute Encoder Offset was successful or not.
*/
@Override
public boolean setAbsoluteEncoderOffset(double offset)
{
DriverStation.reportWarning("SparkMax Analog Sensor's do not support integrated offsets", true);
return false;
}
/**
* Get the velocity in degrees/sec.
*