Class REVDevices

java.lang.Object

swervelib.core.parser.deserializer.reflections.REVDevices

public class REVDevices
extends Object

Reflection class for SparkBases and other REV devices.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	REVDevices.AbsoluteEncoder	Absolute encoder types.
static enum	REVDevices.MotorControllerType	Motor controller types.

Constructor Summary

Constructors

Constructor	Description
REVDevices()

Method Summary

Modifier and Type	Method	Description
static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object>	getAbsoluteEncoder(int canid, String canbus, boolean inverted)	Get the Angle Supplier and the encoder object.
static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object>	getAttachedAbsoluteEncoder(String attachType, Object motorController, boolean inverted)	Get the attached absolute encoder.
static SmartMotorController	getMotorController(int canid, String canbus, SmartMotorControllerConfig config, org.wpilib.math.system.DCMotor motor, String motorControllerType)	Get the SparkBase as a SmartMotorController.

Methods inherited from class Object

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

Constructor Details

REVDevices

public REVDevices()

Method Details

getMotorController

public static SmartMotorController getMotorController(int canid,
 String canbus,
 SmartMotorControllerConfig config,
 org.wpilib.math.system.DCMotor motor,
 String motorControllerType)

Get the SparkBase as a SmartMotorController.

Parameters:

canid - CAN ID of the SparkBase

canbus - CAN bus number of the SparkBase, see CANBuses

config - SmartMotorControllerConfig to apply to the SmartMotorController

motor - DCMotor to use with the SmartMotorController

motorControllerType - Motor controller type.

Returns:

SmartMotorController

getAbsoluteEncoder

public static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object> getAbsoluteEncoder(int canid,
 String canbus,
 boolean inverted)

Get the Angle Supplier and the encoder object.

Parameters:

canid - CAN ID of the encoder.

canbus - CAN bus number of the encoder, see CANBuses

inverted - Inversion of the encoder.

Returns:

Pair of Supplier and Object

Implementation Note:

Angle is in the range of [0, 1) by default.

getAttachedAbsoluteEncoder

public static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object> getAttachedAbsoluteEncoder(String attachType,
 Object motorController,
 boolean inverted)

Get the attached absolute encoder.

Parameters:

attachType - Absolute encoder type. Only DutyCycle and analog inputs are supported.

motorController - Spark motor controller to get the absolute encoder from.

inverted - Inverted absolute encoder readings.

Returns:

Pair of Supplier and DutyCycleEncoder Object