Package swervelib.encoders

Class ThriftyNovaEncoderSwerve

java.lang.Object

swervelib.encoders.SwerveAbsoluteEncoder

swervelib.encoders.ThriftyNovaEncoderSwerve

All Implemented Interfaces:

AutoCloseable

public class ThriftyNovaEncoderSwerve
extends SwerveAbsoluteEncoder

Thrifty Nova absolute encoder, attached through the data port.

Field Summary

Fields

Modifier and Type	Field	Description
protected boolean	inverted	Inversion state of the attached encoder.
protected com.thethriftybot.devices.ThriftyNova	motor	The absolute encoder is directly interfaced through the Thrifty Nova motor.
protected double	offset	Offset of the absolute encoder.

Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

maximumRetries, readingError

Constructor Summary

Constructors

Constructor	Description
ThriftyNovaEncoderSwerve(SwerveMotor motor, String encoderType)	Create the ThriftyNovaEncoderSwerve object as an absolute encoder from the ThriftyNovaSwerve motor.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults.
void	close()
void	configure(boolean inverted)	Configure the absolute encoder.
void	factoryDefault()	Set factory default.
Object	getAbsoluteEncoder()	Get the instantiated absolute encoder Object.
double	getAbsolutePosition()	Get the absolute position of the encoder.
double	getVelocity()	Get the absolute encoder velocity.
boolean	setAbsoluteEncoderOffset(double offset)	Set the absolute encoder offset.

Methods inherited from class java.lang.Object

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

Field Details

motor

protected com.thethriftybot.devices.ThriftyNova motor

The absolute encoder is directly interfaced through the Thrifty Nova motor.

inverted

protected boolean inverted

Inversion state of the attached encoder.

offset

protected double offset

Offset of the absolute encoder.

Constructor Details

ThriftyNovaEncoderSwerve

public ThriftyNovaEncoderSwerve(SwerveMotor motor,
 String encoderType)

Create the ThriftyNovaEncoderSwerve object as an absolute encoder from the ThriftyNovaSwerve motor.

Parameters:

motor - SwerveMotor through which to interface with the attached encoder .

encoderType - the type of encoder to use (options: "REV_ENCODER", "REDUX_ENCODER", "SRX_MAG_ENCODER")

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in class SwerveAbsoluteEncoder

factoryDefault

public void factoryDefault()

Set factory default.

Specified by:

factoryDefault in class SwerveAbsoluteEncoder

clearStickyFaults

public void clearStickyFaults()

Clear sticky faults.

Specified by:

clearStickyFaults in class SwerveAbsoluteEncoder

configure

public void configure(boolean inverted)

Configure the absolute encoder.

Specified by:

configure in class SwerveAbsoluteEncoder

Parameters:

inverted - Whether the encoder is inverted.

getAbsolutePosition

public double getAbsolutePosition()

Get the absolute position of the encoder.

Specified by:

getAbsolutePosition in class SwerveAbsoluteEncoder

Returns:

Absolute position in degrees from [0, 360).

getAbsoluteEncoder

public Object getAbsoluteEncoder()

Get the instantiated absolute encoder Object.

Specified by:

getAbsoluteEncoder in class SwerveAbsoluteEncoder

Returns:

Absolute encoder object.

setAbsoluteEncoderOffset

public boolean setAbsoluteEncoderOffset(double offset)

Set the absolute encoder offset.

Specified by:

setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder

Parameters:

offset - offset in degrees from [0, 360).

Returns:

true if successful.

getVelocity

public double getVelocity()

Get the absolute encoder velocity. WARNING: Angular velocity is generally not measurable at high speeds.

Specified by:

getVelocity in class SwerveAbsoluteEncoder

Returns:

Velocity in degrees per second.