Package swervelib.encoders

Class AnalogAbsoluteEncoderSwerve

java.lang.Object
swervelib.encoders.SwerveAbsoluteEncoder
swervelib.encoders.AnalogAbsoluteEncoderSwerve
public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.

  • Field Details

    • encoder

      public edu.wpi.first.wpilibj.AnalogInput encoder
      Encoder as Analog Input.

    • inverted

      private boolean inverted
      Inversion state of the encoder.

  • Constructor Details

    • AnalogAbsoluteEncoderSwerve

      public AnalogAbsoluteEncoderSwerve(edu.wpi.first.wpilibj.AnalogInput encoder)
      Construct the Thrifty Encoder as a Swerve Absolute Encoder.
      Parameters:
      encoder - Encoder to construct.

    • AnalogAbsoluteEncoderSwerve

      public AnalogAbsoluteEncoderSwerve(int channel)
      Construct the Encoder given the analog input channel.
      Parameters:
      channel - Analog Input channel of which the encoder resides.

  • Method Details

    • factoryDefault

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

    • clearStickyFaults

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

    • configure

      public void configure(boolean inverted)
      Configure the absolute encoder to read from [0, 360) per second.
      Specified by:
      configure in class SwerveAbsoluteEncoder
      Parameters:
      inverted - Whether the encoder is inverted.

    • getAbsolutePosition

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

    • getAbsoluteEncoder

      public Object getAbsoluteEncoder()
      Get the instantiated absolute encoder Object.
      Specified by:
      getAbsoluteEncoder in class SwerveAbsoluteEncoder
      Returns:
      Absolute encoder object.