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Package swervelib.encoders
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Class CanAndMagSwerve

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java.lang.Object +
swervelib.encoders.SwerveAbsoluteEncoder +
swervelib.encoders.CanAndMagSwerve
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public class CanAndMagSwerve +extends SwerveAbsoluteEncoder
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HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
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    Field Details

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      encoder

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      public com.reduxrobotics.sensors.canandmag.Canandmag encoder
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      The Canandmag representing the CANandMag on the CAN bus.
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    Constructor Details

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      CanAndMagSwerve

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      public CanAndMagSwerve(int canid)
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      Create the Canandmag
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      Parameters:
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      canid - The CAN ID whenever the CANandMag is operating on the CANBus.
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    Method Details

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      factoryDefault

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      public void factoryDefault()
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      Reset the encoder to factory defaults. +

      + This will not clear the stored zero offset.

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      Specified by:
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      factoryDefault in class SwerveAbsoluteEncoder
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      clearStickyFaults

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      public void clearStickyFaults()
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      Clear sticky faults on the encoder.
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      Specified by:
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      clearStickyFaults in class SwerveAbsoluteEncoder
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      configure

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      public void configure(boolean inverted)
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      Configure the CANandMag to read from [0, 360) per second.
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      Specified by:
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      configure in class SwerveAbsoluteEncoder
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      Parameters:
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      inverted - Whether the encoder is inverted.
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      getAbsolutePosition

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      public double getAbsolutePosition()
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      Get the absolute position of the encoder.
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      Specified by:
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      getAbsolutePosition in class SwerveAbsoluteEncoder
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      Returns:
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      Absolute position in degrees from [0, 360).
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      getAbsoluteEncoder

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      public Object getAbsoluteEncoder()
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      Get the instantiated absolute encoder Object.
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      Specified by:
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      getAbsoluteEncoder in class SwerveAbsoluteEncoder
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      Returns:
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      Absolute encoder object.
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      setAbsoluteEncoderOffset

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      public boolean setAbsoluteEncoderOffset(double offset)
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      Cannot set the offset of the CANandMag.
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      Specified by:
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      setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
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      Parameters:
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      offset - the offset the Absolute Encoder uses as the zero point.
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      Returns:
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      true if setting the zero point succeeded, false otherwise
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      getVelocity

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      public double getVelocity()
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      Get the velocity in degrees/sec.
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      Specified by:
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      getVelocity in class SwerveAbsoluteEncoder
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      Returns:
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      velocity in degrees/sec.
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