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YAGSL/docs/frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></div>
<h2 title="Class PWMAnalogEncoder" class="title">Class PWMAnalogEncoder</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</li>
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<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder</li>
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<pre>public class <span class="typeNameLabel">PWMAnalogEncoder</span>
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</pre>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
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<tr class="altColor">
<td class="colFirst"><code>private boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverted">m_inverted</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastAngle">m_lastAngle</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastTime">m_lastTime</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_timer">m_timer</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_velocity">m_velocity</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.AnalogEncoder)">PWMAnalogEncoder</a></span>&#8203;(edu.wpi.first.wpilibj.AnalogEncoder&nbsp;encoder)</code></th>
<td class="colLast">
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
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<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder if possible.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset encoder to factory default settings, if possible.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position in degrees.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the magnetic field strength, if available.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Is the encoder reachable?</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
<td class="colLast">
<div class="block">Configure the sensor direction</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>&#8203;(double&nbsp;offset)</code></th>
<td class="colLast">
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#updateVelocity()">updateVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Updates the velocity every second.</div>
</td>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
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<h4>m_timer</h4>
<pre>private final&nbsp;edu.wpi.first.wpilibj.Timer m_timer</pre>
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<pre>private&nbsp;boolean m_inverted</pre>
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<h4>m_lastAngle</h4>
<pre>private&nbsp;double m_lastAngle</pre>
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<h4>m_velocity</h4>
<pre>private&nbsp;double m_velocity</pre>
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<h4>m_lastTime</h4>
<pre>private&nbsp;double m_lastTime</pre>
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<h4>PWMAnalogEncoder</h4>
<pre>public&nbsp;PWMAnalogEncoder&#8203;(edu.wpi.first.wpilibj.AnalogEncoder&nbsp;encoder)</pre>
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - AnalogEncoder.</dd>
</dl>
</li>
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<h4>updateVelocity</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;updateVelocity()</pre>
<div class="block">Updates the velocity every second.</div>
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure()</pre>
<div class="block">Configure the absolute encoder if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
<div class="block">Reset encoder to factory default settings, if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
</dl>
</li>
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<a id="getMagnetFieldStrength()">
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<h4>getMagnetFieldStrength</h4>
<pre class="methodSignature">public&nbsp;com.ctre.phoenix.sensors.MagnetFieldStrength&nbsp;getMagnetFieldStrength()</pre>
<div class="block">Get the magnetic field strength, if available.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>CTRE MagneticFieldStrength Enum.</dd>
</dl>
</li>
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
<div class="block">Get the absolute position in degrees.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Absolute position (0, 360]</dd>
</dl>
</li>
</ul>
<a id="getVelocity()">
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<h4>getVelocity</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Velocity in degrees per second.</dd>
</dl>
</li>
</ul>
<a id="setOffset(double)">
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<h4>setOffset</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setOffset&#8203;(double&nbsp;offset)</pre>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>offset</code> - Offset in degrees.</dd>
</dl>
</li>
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<h4>reachable</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Is the encoder reachable?</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if reachable, false otherwise.</dd>
</dl>
</li>
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;isInverted)</pre>
<div class="block">Configure the sensor direction</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - Inverted or not.</dd>
</dl>
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