Package org.team1126.lib.swerve.hardware

Class SwerveEncoders.SwerveEncoder

java.lang.Object

org.team1126.lib.swerve.hardware.SwerveEncoders.SwerveEncoder

All Implemented Interfaces:

AutoCloseable

Enclosing class:

SwerveEncoders

public abstract static class SwerveEncoders.SwerveEncoder
extends Object

A swerve module's absolute encoder. All units are in rotations.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	SwerveEncoders.SwerveEncoder.Ctor	(config, turnMotor) -> SwerveEncoder
static final record	SwerveEncoders.SwerveEncoder.HookStatus	hookStatus()

Constructor Summary

Constructors

Constructor	Description
SwerveEncoder()

Method Summary

Modifier and Type	Method	Description
static SwerveEncoders.SwerveEncoder	construct(SwerveEncoders.SwerveEncoder.Ctor ctor, SwerveConfig config, SwerveMotors.SwerveMotor turnMotor)	Constructs a swerve encoder.
Object	getAPI()	Returns the device's underlying API.
abstract double	getPosition()	Gets the encoder's position in rotations.
default List<com.ctre.phoenix6.BaseStatusSignal>	getSignals()	Returns all Phoenix status signals in use by the hardware.
SwerveEncoders.SwerveEncoder.HookStatus	hookStatus()	Some motor controllers can be configured to use external encoders as a feedback device for closed-loop control.
default boolean	readError()	If the device has encountered an error while reading inputs.

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.lang.AutoCloseable

close

Constructor Details

SwerveEncoder

public SwerveEncoder()

Method Details

construct

public static SwerveEncoders.SwerveEncoder construct(SwerveEncoders.SwerveEncoder.Ctor ctor,
 SwerveConfig config,
 SwerveMotors.SwerveMotor turnMotor)

Constructs a swerve encoder. Wraps to support simulation if applicable.

Parameters:

ctor - The encoder's constructor.

config - The general swerve API configuration.

turnMotor - The turn motor associated with the encoder's module.

getPosition

public abstract double getPosition()

Gets the encoder's position in rotations.

hookStatus

public SwerveEncoders.SwerveEncoder.HookStatus hookStatus()

Some motor controllers can be configured to use external encoders as a feedback device for closed-loop control. This method returns a SwerveEncoders.SwerveEncoder.HookStatus that specifies if the encoder's corresponding turn motor has been configured to return an absolute position via its getPosition() method (SwerveEncoders.SwerveEncoder.HookStatus.readMotor), and/or accept an absolute position when setting its closed loop position target (SwerveEncoders.SwerveEncoder.HookStatus.applyAbsolute).

getAPI

Object getAPI()

Returns the device's underlying API.

getSignals

default List<com.ctre.phoenix6.BaseStatusSignal> getSignals()

Returns all Phoenix status signals in use by the hardware. Phoenix hardware should not invoke .refresh() on their status signals in their implementations. This method is required for the odometry thread to register signals to be refreshed automatically. Because signals are not thread safe, all returned signals should also be cloned in their initialization as to not interfere with telemetry, which is invoked on the main thread. The exception to this rule is IMU pitch and roll values, as they are only measured synchronously when calling SwerveAPI.refresh().

readError

default boolean readError()

If the device has encountered an error while reading inputs.