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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
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<h2 title="Class SwerveEncoder" class="title">Class SwerveEncoder<AbsoluteEncoderType></h2>
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<ul class="inheritance">
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<li>java.lang.Object</li>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive.swerve.SwerveEncoder<AbsoluteEncoderType></li>
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<dd><code><a href="encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></code>, <code><a href="encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></code>, <code><a href="encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></code>, <code><a href="encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveEncoder<AbsoluteEncoderType></span>
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extends java.lang.Object</pre>
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<div class="block">Swerve Encoder class definition for common interfaces.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
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<td class="colFirst"><code><a href="SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoder">m_encoder</a></span></code></th>
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<td class="colLast">
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<div class="block">The encoder can be directly referenced for configuration purposes of onboard PIDs.</div>
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</td>
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</tr>
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</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()">SwerveEncoder</a></span>()</code></th>
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<td class="colLast"> </td>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Configure the absolute encoder if possible.</div>
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</td>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Reset encoder to factory default settings, if possible.</div>
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</td>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>static <AbsoluteEncoderType><br><a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></span>​(AbsoluteEncoderType encoder)</code></th>
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<td class="colLast">
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<div class="block">Get the SwerveEncoder class from the given encoder types</div>
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</td>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code>abstract double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the absolute position in degrees.</div>
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</td>
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</tr>
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<tr id="i4" class="altColor">
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<td class="colFirst"><code>abstract com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the magnetic field strength, if available.</div>
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</td>
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<tr id="i5" class="rowColor">
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<td class="colFirst"><code>abstract double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
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</td>
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</tr>
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<tr id="i6" class="altColor">
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<td class="colFirst"><code>abstract boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Is the encoder reachable?</div>
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</td>
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<tr id="i7" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean isInverted)</code></th>
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<td class="colLast">
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<div class="block">Configure the sensor direction</div>
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</td>
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<tr id="i8" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>​(double offset)</code></th>
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<td class="colLast">
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<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
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<h3>Methods inherited from class java.lang.Object</h3>
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<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>m_encoder</h4>
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<pre>public <a href="SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a> m_encoder</pre>
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<div class="block">The encoder can be directly referenced for configuration purposes of onboard PIDs.</div>
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</li>
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<h4>SwerveEncoder</h4>
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<pre>public SwerveEncoder()</pre>
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<a id="fromEncoder(java.lang.Object)">
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</a><a id="fromEncoder(AbsoluteEncoderType)">
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<h4>fromEncoder</h4>
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<pre class="methodSignature">public static <AbsoluteEncoderType> <a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> fromEncoder​(AbsoluteEncoderType encoder)</pre>
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<div class="block">Get the SwerveEncoder class from the given encoder types</div>
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<dl>
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<dt><span class="paramLabel">Type Parameters:</span></dt>
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<dd><code>AbsoluteEncoderType</code> - One of DutyCycleEncoder, AnalogEncoder, AbsoluteEncoder, and CANCoder</dd>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>encoder</code> - Encoder</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>SwerveEncoder subclass</dd>
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<h4>configure</h4>
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<pre class="methodSignature">public abstract void configure()</pre>
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<div class="block">Configure the absolute encoder if possible.</div>
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<h4>factoryDefault</h4>
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<pre class="methodSignature">public abstract void factoryDefault()</pre>
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<div class="block">Reset encoder to factory default settings, if possible.</div>
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<a id="getMagnetFieldStrength()">
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<h4>getMagnetFieldStrength</h4>
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<pre class="methodSignature">public abstract com.ctre.phoenix.sensors.MagnetFieldStrength getMagnetFieldStrength()</pre>
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<div class="block">Get the magnetic field strength, if available.</div>
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<dl>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>CTRE MagneticFieldStrength Enum.</dd>
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<h4>getAbsolutePosition</h4>
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<pre class="methodSignature">public abstract double getAbsolutePosition()</pre>
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<div class="block">Get the absolute position in degrees.</div>
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<dl>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>Absolute position (0, 360]</dd>
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<h4>getVelocity</h4>
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<pre class="methodSignature">public abstract double getVelocity()</pre>
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<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
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<dl>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>Velocity in degrees per second.</dd>
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<h4>setOffset</h4>
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<pre class="methodSignature">public abstract void setOffset​(double offset)</pre>
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<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>offset</code> - Offset in degrees.</dd>
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</dl>
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</li>
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</ul>
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<a id="reachable()">
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<h4>reachable</h4>
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<pre class="methodSignature">public abstract boolean reachable()</pre>
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<div class="block">Is the encoder reachable?</div>
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<dl>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>True if reachable, false otherwise.</dd>
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<h4>setInverted</h4>
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<pre class="methodSignature">public abstract void setInverted​(boolean isInverted)</pre>
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<div class="block">Configure the sensor direction</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>isInverted</code> - Inverted or not.</dd>
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