Package swervelib.encoders

Class CANCoderSwerve

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

swervelib.encoders.CANCoderSwerve

public class CANCoderSwerve
extends SwerveAbsoluteEncoder

Swerve Absolute Encoder for CTRE CANCoders.

Field Summary

Fields

Modifier and Type	Field	Description
com.ctre.phoenix.sensors.WPI_CANCoder	encoder	CANCoder with WPILib sendable and support.

Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

readingError

Constructor Summary

Constructors

Constructor	Description
CANCoderSwerve(int id)	Initialize the CANCoder on the standard CANBus.
CANCoderSwerve(int id, String canbus)	Initialize the CANCoder on the CANivore.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults on the encoder.
void	configure(boolean inverted)	Configure the absolute encoder to read from [0, 360) per second.
void	factoryDefault()	Reset the encoder to factory defaults.
Object	getAbsoluteEncoder()	Get the instantiated absolute encoder Object.
double	getAbsolutePosition()	Get the absolute position of the encoder.

Methods inherited from class java.lang.Object

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

Field Details

encoder

public com.ctre.phoenix.sensors.WPI_CANCoder encoder

CANCoder with WPILib sendable and support.

Constructor Details

CANCoderSwerve

public CANCoderSwerve(int id)

Initialize the CANCoder on the standard CANBus.

Parameters:

id - CAN ID.

CANCoderSwerve

public CANCoderSwerve(int id,
 String canbus)

Initialize the CANCoder on the CANivore.

Parameters:

id - CAN ID.

canbus - CAN bus to initialize it on.

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. Sets SwerveAbsoluteEncoder.readingError on erroneous readings.

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.