Package org.team1126.lib.swerve.hardware

Class SwerveEncoders

java.lang.Object

org.team1126.lib.swerve.hardware.SwerveEncoders

public final class SwerveEncoders
extends Object

Contains implementations for absolute encoders to be used with the SwerveAPI.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SwerveEncoders.SwerveEncoder	A swerve module's absolute encoder.

Method Summary

Modifier and Type	Method	Description
static SwerveEncoders.SwerveEncoder.Ctor	canandmag(int id, double offset, boolean inverted)	Configures a Canandmag.
static SwerveEncoders.SwerveEncoder.Ctor	cancoder(int id, double offset, boolean inverted)	Configures a CANcoder.
static SwerveEncoders.SwerveEncoder.Ctor	sparkFlexEncoder(double offset, boolean inverted)	Configures a Spark Flex attached duty cycle absolute encoder.
static SwerveEncoders.SwerveEncoder.Ctor	sparkMaxEncoder(double offset, boolean inverted)	Configures a Spark Max attached duty cycle absolute encoder.

Methods inherited from class java.lang.Object

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

Method Details

sparkMaxEncoder

public static SwerveEncoders.SwerveEncoder.Ctor sparkMaxEncoder(double offset,
 boolean inverted)

Configures a Spark Max attached duty cycle absolute encoder.

Parameters:

offset - Offset of the magnet in rotations.

inverted - If the encoder is inverted.

sparkFlexEncoder

public static SwerveEncoders.SwerveEncoder.Ctor sparkFlexEncoder(double offset,
 boolean inverted)

Configures a Spark Flex attached duty cycle absolute encoder.

Parameters:

offset - Offset of the magnet in rotations.

inverted - If the encoder is inverted.

canandmag

public static SwerveEncoders.SwerveEncoder.Ctor canandmag(int id,
 double offset,
 boolean inverted)

Configures a Canandmag.

Parameters:

id - CAN ID of the device, as configured in Alchemist.

offset - Offset of the magnet in rotations.

inverted - If the encoder is inverted.

cancoder

public static SwerveEncoders.SwerveEncoder.Ctor cancoder(int id,
 double offset,
 boolean inverted)

Configures a CANcoder.

Parameters:

id - CAN ID of the device, as configured in Phoenix Tuner.

offset - Offset of the magnet in rotations.

inverted - If the encoder is inverted.