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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib.encoders</a></div>
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<h1 title="Class SparkMaxEncoderSwerve" class="title">Class SparkMaxEncoderSwerve</h1>
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</div>
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
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<div class="inheritance"><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">swervelib.encoders.SwerveAbsoluteEncoder</a>
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<div class="inheritance">swervelib.encoders.SparkMaxEncoderSwerve</div>
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</div>
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</div>
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<section class="class-description" id="class-description">
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SparkMaxEncoderSwerve</span>
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<span class="extends-implements">extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
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<div class="block">SparkMax absolute encoder, attached through the data port.</div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- =========== FIELD SUMMARY =========== -->
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="caption"><span>Fields</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>com.revrobotics.AbsoluteEncoder</code></div>
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<div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
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</div>
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<div class="col-first odd-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#failureConfiguring" class="member-name-link">failureConfiguring</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if there is a failure configuring the encoder.</div>
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</div>
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<div class="col-first even-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
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<div class="col-second even-row-color"><code><a href="#offsetFailure" class="member-name-link">offsetFailure</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if there is a failure configuring the encoder offset.</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
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<code><a href="SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a>, <a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
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</section>
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</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,int)" class="member-name-link">SparkMaxEncoderSwerve</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a> motor,
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int conversionFactor)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Create the <a href="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders"><code>SparkMaxEncoderSwerve</code></a> object as a duty cycle from the <code>CANSparkMax</code> motor.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel">
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Clear sticky faults on the encoder.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configure(boolean)" class="member-name-link">configure</a><wbr>(boolean inverted)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a><com.revrobotics.REVLibError> config)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Run the configuration until it succeeds or times out.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Reset the encoder to factory defaults.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the instantiated absolute encoder Object.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the absolute position of the encoder.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the velocity in degrees/sec.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoderOffset(double)" class="member-name-link">setAbsoluteEncoderOffset</a><wbr>(double offset)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Sets the Absolute Encoder Offset inside of the SparkMax's Memory.</div>
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</div>
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</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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</section>
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</li>
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</ul>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ============ FIELD DETAIL =========== -->
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<li>
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<section class="field-details" id="field-detail">
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<h2>Field Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="encoder">
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<h3>encoder</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">com.revrobotics.AbsoluteEncoder</span> <span class="element-name">encoder</span></div>
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<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="failureConfiguring">
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<h3>failureConfiguring</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span> <span class="element-name">failureConfiguring</span></div>
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<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if there is a failure configuring the encoder.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="offsetFailure">
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<h3>offsetFailure</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span> <span class="element-name">offsetFailure</span></div>
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<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if there is a failure configuring the encoder offset.</div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<li>
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<section class="constructor-details" id="constructor-detail">
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(swervelib.motors.SwerveMotor,int)">
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<h3>SparkMaxEncoderSwerve</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SparkMaxEncoderSwerve</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a> motor,
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int conversionFactor)</span></div>
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<div class="block">Create the <a href="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders"><code>SparkMaxEncoderSwerve</code></a> object as a duty cycle from the <code>CANSparkMax</code> motor.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>motor</code> - Motor to create the encoder from.</dd>
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<dd><code>conversionFactor</code> - The conversion factor to set if the output is not from 0 to 360.</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ============ METHOD DETAIL ========== -->
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<li>
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<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="configureSparkMax(java.util.function.Supplier)">
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<h3>configureSparkMax</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">void</span> <span class="element-name">configureSparkMax</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a><com.revrobotics.REVLibError> config)</span></div>
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<div class="block">Run the configuration until it succeeds or times out.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>config</code> - Lambda supplier returning the error state.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="factoryDefault()">
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<h3>factoryDefault</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">factoryDefault</span>()</div>
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<div class="block">Reset the encoder to factory defaults.</div>
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<dl class="notes">
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<dt>Specified by:</dt>
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|
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="clearStickyFaults()">
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<h3>clearStickyFaults</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">clearStickyFaults</span>()</div>
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<div class="block">Clear sticky faults on the encoder.</div>
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<dl class="notes">
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|
<dt>Specified by:</dt>
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|
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="configure(boolean)">
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<h3>configure</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">configure</span><wbr><span class="parameters">(boolean inverted)</span></div>
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|
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
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|
<dl class="notes">
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|
<dt>Specified by:</dt>
|
|
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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|
<dt>Parameters:</dt>
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|
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
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|
</dl>
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</section>
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</li>
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<li>
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|
<section class="detail" id="getAbsolutePosition()">
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|
<h3>getAbsolutePosition</h3>
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|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getAbsolutePosition</span>()</div>
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|
<div class="block">Get the absolute position of the encoder.</div>
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|
<dl class="notes">
|
|
<dt>Specified by:</dt>
|
|
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
|
<dt>Returns:</dt>
|
|
<dd>Absolute position in degrees from [0, 360).</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getAbsoluteEncoder()">
|
|
<h3>getAbsoluteEncoder</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span> <span class="element-name">getAbsoluteEncoder</span>()</div>
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|
<div class="block">Get the instantiated absolute encoder Object.</div>
|
|
<dl class="notes">
|
|
<dt>Specified by:</dt>
|
|
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
|
<dt>Returns:</dt>
|
|
<dd>Absolute encoder object.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setAbsoluteEncoderOffset(double)">
|
|
<h3>setAbsoluteEncoderOffset</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">setAbsoluteEncoderOffset</span><wbr><span class="parameters">(double offset)</span></div>
|
|
<div class="block">Sets the Absolute Encoder Offset inside of the SparkMax's Memory.</div>
|
|
<dl class="notes">
|
|
<dt>Specified by:</dt>
|
|
<dd><code><a href="SwerveAbsoluteEncoder.html#setAbsoluteEncoderOffset(double)">setAbsoluteEncoderOffset</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
|
<dt>Parameters:</dt>
|
|
<dd><code>offset</code> - the offset the Absolute Encoder uses as the zero point.</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>if setting Absolute Encoder Offset was successful or not.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getVelocity()">
|
|
<h3>getVelocity</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getVelocity</span>()</div>
|
|
<div class="block">Get the velocity in degrees/sec.</div>
|
|
<dl class="notes">
|
|
<dt>Specified by:</dt>
|
|
<dd><code><a href="SwerveAbsoluteEncoder.html#getVelocity()">getVelocity</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
|
<dt>Returns:</dt>
|
|
<dd>velocity in degrees/sec.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
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<!-- ========= END OF CLASS DATA ========= -->
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</main>
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</div>
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</div>
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</body>
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</html>
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