Package lib.custom.sensors

Class CANEncoder

java.lang.Object

lib.custom.CustomCAN

lib.custom.sensors.CANSensor

lib.custom.sensors.CANEncoder

All Implemented Interfaces:

CustomEncoder, NativeDerivativeSensor

public class CANEncoder
extends CANSensor
implements CustomEncoder

Encoder over CAN Implements CustomEncoder generic encoder class

Field Summary

Fields

Modifier and Type	Field	Description
protected static final int	RESET_NUMBER_TRIES

Fields inherited from class lib.custom.CustomCAN

messageID, name

Constructor Summary

Constructors

Constructor	Description
CANEncoder(int id)
CANEncoder(int id, boolean reverseDirection)
CANEncoder(int id, boolean reverseDirection, double distancePerPulse)
CANEncoder(int id, double distancePerPulse)
CANEncoder(String name, int id)
CANEncoder(String name, int id, boolean reverseDirection)
CANEncoder(String name, int id, boolean reverseDirection, double distancePerPulse)
CANEncoder(String name, int id, double distancePerPulse)

Method Summary

Modifier and Type	Method	Description
boolean	getDirection()	Gets direction of most recent movement
boolean	getDirectionSafely()	Returns the most recent direction of movement (based on the speed)
double	getDistance()	Gets current distance
double	getDistancePerPulse()	Sets PID mode PIDSourceType is either PIDSourceType.kDisplacement or PIDSourceType.kRate.
double	getDistanceSafely()	Returns the scaled distance rotated by the encoder.
double	getRate()	Gets rate
double	getRateSafely()	Returns the rate of rotation
boolean	getReverseDirection()	Gets inversion state
boolean	getStopped()	Returns true when stopped
boolean	getStoppedSafely()	Returns true when stopped
void	reset()	Resets the distance traveled for the encoder
void	resetViaOffset()
void	resetViaOffset(double setpoint)
void	setDistancePerPulse(double distancePerPulse)	Sets the distance per pulse
void	setReverseDirection(boolean reverseDirection)	To the surprise of everyone, enables and disables reverse direction

Methods inherited from class lib.custom.sensors.CANSensor

getSensorStatuses, readSensor

Methods inherited from class lib.custom.CustomCAN

getName, read, readBuffer, readSafely, write, writeSafely

Methods inherited from class java.lang.Object

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

Field Details

RESET_NUMBER_TRIES

protected static final int RESET_NUMBER_TRIES

See Also:

• Constant Field Values

Constructor Details

CANEncoder

public CANEncoder(String name,
 int id,
 boolean reverseDirection,
 double distancePerPulse)

CANEncoder

public CANEncoder(String name,
 int id,
 boolean reverseDirection)

CANEncoder

public CANEncoder(String name,
 int id,
 double distancePerPulse)

CANEncoder

public CANEncoder(int id,
 boolean reverseDirection,
 double distancePerPulse)

CANEncoder

public CANEncoder(String name,
 int id)

CANEncoder

public CANEncoder(int id,
 boolean reverseDirection)

CANEncoder

public CANEncoder(int id,
 double distancePerPulse)

CANEncoder

public CANEncoder(int id)

Method Details

getDistancePerPulse

public double getDistancePerPulse()

Sets PID mode PIDSourceType is either PIDSourceType.kDisplacement or PIDSourceType.kRate.

Specified by:

getDistancePerPulse in interface CustomEncoder

setDistancePerPulse

public void setDistancePerPulse(double distancePerPulse)

Description copied from interface: CustomEncoder

Sets the distance per pulse

Specified by:

setDistancePerPulse in interface CustomEncoder

getReverseDirection

public boolean getReverseDirection()

Description copied from interface: CustomEncoder

Gets inversion state

Specified by:

getReverseDirection in interface CustomEncoder

setReverseDirection

public void setReverseDirection(boolean reverseDirection)

Description copied from interface: CustomEncoder

To the surprise of everyone, enables and disables reverse direction

Specified by:

setReverseDirection in interface CustomEncoder

getDistanceSafely

public double getDistanceSafely()
                         throws InvalidSensorException

Returns the scaled distance rotated by the encoder.

Specified by:

getDistanceSafely in interface CustomEncoder

Throws:

InvalidSensorException

getDirectionSafely

public boolean getDirectionSafely()
                           throws InvalidSensorException

Returns the most recent direction of movement (based on the speed)

Specified by:

getDirectionSafely in interface CustomEncoder

Throws:

InvalidSensorException

getRateSafely

public double getRateSafely()
                     throws InvalidSensorException

Returns the rate of rotation

Specified by:

getRateSafely in interface NativeDerivativeSensor

Throws:

InvalidSensorException

getStoppedSafely

public boolean getStoppedSafely()

Returns true when stopped

Specified by:

getStoppedSafely in interface CustomEncoder

reset

public void reset()

Resets the distance traveled for the encoder

Specified by:

reset in interface CustomEncoder

resetViaOffset

public void resetViaOffset(double setpoint)

resetViaOffset

public void resetViaOffset()

getDistance

public double getDistance()

Description copied from interface: CustomEncoder

Gets current distance

does not indicate sensor errors

Specified by:

getDistance in interface CustomEncoder

getDirection

public boolean getDirection()

Description copied from interface: CustomEncoder

Gets direction of most recent movement

does not indicate sensor errors

Specified by:

getDirection in interface CustomEncoder

getStopped

public boolean getStopped()

Description copied from interface: CustomEncoder

Returns true when stopped

does not indicate sensor errors

Specified by:

getStopped in interface CustomEncoder

getRate

public double getRate()

Description copied from interface: NativeDerivativeSensor

Gets rate

does not indicate sensor errors

Specified by:

getRate in interface NativeDerivativeSensor