Package frc.robot.subsystems.swervedrive.swerve.encoders

Class CTRECANCoder

  • public class CTRECANCoder
extends SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>

    • Constructor Summary

      Constructors 
      Constructor Description
      CTRECANCoder​(com.ctre.phoenix.sensors.CANCoder encoder)
      Create SwerveEncoder based off CANCoder.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void configure()
      Configure the absolute encoder if possible.
      void factoryDefault()
      Reset encoder to factory default settings, if possible.
      double getAbsolutePosition()
      Get the absolute position in degrees.
      com.ctre.phoenix.sensors.MagnetFieldStrength getMagnetFieldStrength()
      Get the magnetic field strength, if available.
      double getVelocity()
      Get the velocity of the absolute encoder in degrees per second.
      boolean reachable()
      Is the encoder reachable?
      void setInverted​(boolean isInverted)
      Configure the sensor direction
      void setOffset​(double offset)
      Configure the magnetic offset for the AbsoluteEncoder.

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • CTRECANCoder

        public CTRECANCoder​(com.ctre.phoenix.sensors.CANCoder encoder)
        Create SwerveEncoder based off CANCoder.
        Parameters:
        encoder - CANCoder to use.

    • Method Detail

      • configure

        public void configure()
        Configure the absolute encoder if possible.
        Specified by:
        configure in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>

      • getMagnetFieldStrength

        public com.ctre.phoenix.sensors.MagnetFieldStrength getMagnetFieldStrength()
        Get the magnetic field strength, if available.
        Specified by:
        getMagnetFieldStrength in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>
        Returns:
        CTRE MagneticFieldStrength Enum.

      • getAbsolutePosition

        public double getAbsolutePosition()
        Get the absolute position in degrees.
        Specified by:
        getAbsolutePosition in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>
        Returns:
        Absolute position (0, 360]

      • getVelocity

        public double getVelocity()
        Get the velocity of the absolute encoder in degrees per second.
        Specified by:
        getVelocity in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>
        Returns:
        Velocity in degrees per second.

      • setOffset

        public void setOffset​(double offset)
        Configure the magnetic offset for the AbsoluteEncoder.
        Specified by:
        setOffset in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>
        Parameters:
        offset - Offset in degrees.

      • reachable

        public boolean reachable()
        Is the encoder reachable?
        Specified by:
        reachable in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>
        Returns:
        True if reachable, false otherwise.

      • setInverted

        public void setInverted​(boolean isInverted)
        Configure the sensor direction
        Specified by:
        setInverted in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>
        Parameters:
        isInverted - Inverted or not.

      • factoryDefault

        public void factoryDefault()
        Reset encoder to factory default settings, if possible.
        Specified by:
        factoryDefault in class SwerveEncoder<com.ctre.phoenix.sensors.CANCoder>