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Added new SparkMaxAnalogEncoderSwerve to refer to absolute encoder at…
…tached to spark max analog pins. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| package swervelib.encoders; | ||
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| import com.revrobotics.AbsoluteEncoder; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.REVLibError; | ||
| import com.revrobotics.SparkMaxAnalogSensor; | ||
| import com.revrobotics.SparkMaxAnalogSensor.Mode; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import java.util.function.Supplier; | ||
| import swervelib.motors.SwerveMotor; | ||
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|
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| /** | ||
| * SparkMax absolute encoder, attached through the data port analog pin. | ||
| */ | ||
| public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder | ||
| { | ||
|
|
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| /** | ||
| * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax. | ||
| */ | ||
| public SparkMaxAnalogSensor encoder; | ||
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|
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| /** | ||
| * Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data port analog pin. | ||
| * | ||
| * @param motor Motor to create the encoder from. | ||
| */ | ||
| public SparkMaxAnalogEncoderSwerve(SwerveMotor motor) | ||
| { | ||
| if (motor.getMotor() instanceof CANSparkMax) | ||
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thenetworkgrinch
Author
Contributor
|
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| { | ||
| encoder = ((CANSparkMax) motor.getMotor()).getAnalog(Mode.kAbsolute); | ||
| } else | ||
| { | ||
| throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax"); | ||
| } | ||
| } | ||
|
|
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| /** | ||
| * Run the configuration until it succeeds or times out. | ||
| * | ||
| * @param config Lambda supplier returning the error state. | ||
| */ | ||
| private void configureSparkMax(Supplier<REVLibError> config) | ||
| { | ||
| for (int i = 0; i < maximumRetries; i++) | ||
| { | ||
| if (config.get() == REVLibError.kOk) | ||
| { | ||
| return; | ||
| } | ||
| } | ||
| DriverStation.reportWarning("Failure configuring encoder", true); | ||
| } | ||
|
|
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| /** | ||
| * Reset the encoder to factory defaults. | ||
| */ | ||
| @Override | ||
| public void factoryDefault() | ||
| { | ||
| // Do nothing | ||
| } | ||
|
|
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| /** | ||
| * Clear sticky faults on the encoder. | ||
| */ | ||
| @Override | ||
| public void clearStickyFaults() | ||
| { | ||
| // Do nothing | ||
| } | ||
|
|
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| /** | ||
| * Configure the absolute encoder to read from [0, 360) per second. | ||
| * | ||
| * @param inverted Whether the encoder is inverted. | ||
| */ | ||
| @Override | ||
| public void configure(boolean inverted) | ||
| { | ||
| encoder.setInverted(inverted); | ||
| } | ||
|
|
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| /** | ||
| * Get the absolute position of the encoder. | ||
| * | ||
| * @return Absolute position in degrees from [0, 360). | ||
| */ | ||
| @Override | ||
| public double getAbsolutePosition() | ||
| { | ||
| return encoder.getPosition(); | ||
| } | ||
|
|
||
| /** | ||
| * Get the instantiated absolute encoder Object. | ||
| * | ||
| * @return Absolute encoder object. | ||
| */ | ||
| @Override | ||
| public Object getAbsoluteEncoder() | ||
| { | ||
| return encoder; | ||
| } | ||
| } | ||
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id ont' know if it's a java 17 thing but you should be able to do (if motor.getMotor() instanceof CANSparkMax canSparkMaxMotor){ encoder = canSparkMaxMotor.getAnalag(Mode.kAbsolute); }
then you don't have to cast it.