mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-19 06:21:40 +00:00
103 lines
2.8 KiB
Java
103 lines
2.8 KiB
Java
package frc.robot.subsystems.swervedrive.swerve;
|
|
|
|
import com.ctre.phoenix.sensors.CANCoder;
|
|
import com.ctre.phoenix.sensors.MagnetFieldStrength;
|
|
import com.revrobotics.AbsoluteEncoder;
|
|
import edu.wpi.first.wpilibj.AnalogEncoder;
|
|
import edu.wpi.first.wpilibj.DutyCycleEncoder;
|
|
import frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder;
|
|
import frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder;
|
|
import frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder;
|
|
import frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder;
|
|
|
|
/**
|
|
* Swerve Encoder class definition for common interfaces.
|
|
*/
|
|
public abstract class SwerveEncoder<AbsoluteEncoderType>
|
|
{
|
|
|
|
/**
|
|
* The encoder can be directly referenced for configuration purposes of onboard PIDs.
|
|
*/
|
|
public AbsoluteEncoderType m_encoder;
|
|
|
|
/**
|
|
* Get the SwerveEncoder class from the given encoder types
|
|
*
|
|
* @param encoder Encoder
|
|
* @param <AbsoluteEncoderType> One of DutyCycleEncoder, AnalogEncoder, AbsoluteEncoder, and CANCoder
|
|
* @return SwerveEncoder subclass
|
|
*/
|
|
public static <AbsoluteEncoderType> SwerveEncoder<?> fromEncoder(AbsoluteEncoderType encoder)
|
|
{
|
|
if (encoder instanceof CANCoder)
|
|
{
|
|
return new CTRECANCoder((CANCoder) encoder);
|
|
} else if (encoder instanceof DutyCycleEncoder)
|
|
{
|
|
return new PWMDutyCycleEncoder((DutyCycleEncoder) encoder);
|
|
} else if (encoder instanceof AnalogEncoder)
|
|
{
|
|
return new PWMAnalogEncoder((AnalogEncoder) encoder);
|
|
} else if (encoder instanceof AbsoluteEncoder)
|
|
{
|
|
return new REVAbsoluteEncoder((AbsoluteEncoder) encoder);
|
|
}
|
|
|
|
return null;
|
|
}
|
|
|
|
/**
|
|
* Configure the absolute encoder if possible.
|
|
*/
|
|
public abstract void configure();
|
|
|
|
/**
|
|
* Reset encoder to factory default settings, if possible.
|
|
*/
|
|
public abstract void factoryDefault();
|
|
|
|
/**
|
|
* Get the magnetic field strength, if available.
|
|
*
|
|
* @return CTRE MagneticFieldStrength Enum.
|
|
*/
|
|
public abstract MagnetFieldStrength getMagnetFieldStrength();
|
|
|
|
/**
|
|
* Get the absolute position in degrees.
|
|
*
|
|
* @return Absolute position (0, 360]
|
|
*/
|
|
public abstract double getAbsolutePosition();
|
|
|
|
/**
|
|
* Get the velocity of the absolute encoder in degrees per second.
|
|
*
|
|
* @return Velocity in degrees per second.
|
|
*/
|
|
public abstract double getVelocity();
|
|
|
|
/**
|
|
* Configure the magnetic offset for the AbsoluteEncoder.
|
|
*
|
|
* @param offset Offset in degrees.
|
|
*/
|
|
public abstract void setOffset(double offset);
|
|
|
|
/**
|
|
* Is the encoder reachable?
|
|
*
|
|
* @return True if reachable, false otherwise.
|
|
*/
|
|
public abstract boolean reachable();
|
|
|
|
/**
|
|
* Configure the sensor direction
|
|
*
|
|
* @param isInverted Inverted or not.
|
|
*/
|
|
public abstract void setInverted(boolean isInverted);
|
|
|
|
}
|