Package ca.team4308.absolutelib.wrapper

Class EncoderWrapper.CANCoderImpl

java.lang.Object

ca.team4308.absolutelib.wrapper.EncoderWrapper.CANCoderImpl

All Implemented Interfaces:

EncoderWrapper

Enclosing interface:

EncoderWrapper

public static class EncoderWrapper.CANCoderImpl
extends Object
implements EncoderWrapper

Nested Class Summary

Nested classes/interfaces inherited from interface ca.team4308.absolutelib.wrapper.EncoderWrapper

EncoderWrapper.CANCoderImpl, EncoderWrapper.DioEncoderImpl, EncoderWrapper.DutyCycleEncoderImpl, EncoderWrapper.GenericAbsoluteRotationsImpl, EncoderWrapper.GenericCountsImpl, EncoderWrapper.GenericMechanismRotationsImpl, EncoderWrapper.TalonFXIntegratedImpl

Constructor Summary

Constructors

Constructor	Description
CANCoderImpl(int canId, double gearRatio, double countsPerRev, double drumDiameter)

Method Summary

Modifier and Type	Method	Description
double	getPositionMechanismRotations()	Current position in mechanism rotations.
double	getPositionMeters()	Current linear position in meters.
boolean	isAbsolute()	Returns true if this encoder is absolute (position persists across power cycles).
void	setPositionMechanismRotations(double rotations)	Reset/report position in mechanism rotations.
void	setPositionMeters(double meters)	Reset/report the linear position in meters.
void	setSimulatedPositionMechanismRotations(double rotations)	Update the simulated sensor state (if applicable).

Methods inherited from class java.lang.Object

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

Methods inherited from interface ca.team4308.absolutelib.wrapper.EncoderWrapper

getPositionRadians, setPositionRadians

Constructor Details

CANCoderImpl

public CANCoderImpl(int canId,
 double gearRatio,
 double countsPerRev,
 double drumDiameter)

Method Details

isAbsolute

public boolean isAbsolute()

Description copied from interface: EncoderWrapper

Returns true if this encoder is absolute (position persists across power cycles).

Specified by:

isAbsolute in interface EncoderWrapper

getPositionMechanismRotations

public double getPositionMechanismRotations()

Description copied from interface: EncoderWrapper

Current position in mechanism rotations.

Specified by:

getPositionMechanismRotations in interface EncoderWrapper

setPositionMechanismRotations

public void setPositionMechanismRotations(double rotations)

Description copied from interface: EncoderWrapper

Reset/report position in mechanism rotations.

Specified by:

setPositionMechanismRotations in interface EncoderWrapper

setSimulatedPositionMechanismRotations

public void setSimulatedPositionMechanismRotations(double rotations)

Description copied from interface: EncoderWrapper

Update the simulated sensor state (if applicable). Used to feed simulation physics back into the sensor so control loops work in sim.

Specified by:

setSimulatedPositionMechanismRotations in interface EncoderWrapper

getPositionMeters

public double getPositionMeters()

Description copied from interface: EncoderWrapper

Current linear position in meters. Requires drumDiameter to be configured.

Specified by:

getPositionMeters in interface EncoderWrapper

setPositionMeters

public void setPositionMeters(double meters)

Description copied from interface: EncoderWrapper

Reset/report the linear position in meters.

Specified by:

setPositionMeters in interface EncoderWrapper