Class CANEncoder


  • public class CANEncoder
    extends java.lang.Object
    • Constructor Detail

      • CANEncoder

        public CANEncoder​(CANSparkMax device)
        Constructs a CANPIDController.
        Parameters:
        device - The Spark Max to which the encoder is attached.
    • Method Detail

      • getPosition

        public double getPosition()
        Get the position of the motor. This returns the native units of 'rotations'.
        Returns:
        Number of rotations of the motor
      • getVelocity

        public double getVelocity()
        Get the velocity of the motor. This returns the native units of 'RPM'.
        Returns:
        Number the RPM of the motor
      • setPosition

        public CANError setPosition​(double position)
        Set the position of the encoder.
        Parameters:
        position - Number of rotations of the motor
        Returns:
        CANError Set to CANError.kOk if successful
      • setPositionConversionFactor

        public CANError setPositionConversionFactor​(double factor)
        Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position
        Parameters:
        factor - The conversion factor to multiply the native units by
        Returns:
        CANError Set to CANError.kOk if successful
      • setVelocityConversionFactor

        public CANError setVelocityConversionFactor​(double factor)
        Set the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity
        Parameters:
        factor - The conversion factor to multiply the native units by
        Returns:
        CANError Set to CANError.kOk if successful
      • getPositionConversionFactor

        public double getPositionConversionFactor()
        Get the conversion factor for position of the encoder. Multiplied by the native output units to give you position
        Returns:
        The conversion factor for position
      • getVelocityConversionFactor

        public double getVelocityConversionFactor()
        Get the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity
        Returns:
        The conversion factor for velocity