Package xbot.common.controls.sensors

Class XCANCoder

java.lang.Object

xbot.common.controls.sensors.XAbsoluteEncoder

xbot.common.controls.sensors.XCANCoder

All Implemented Interfaces:

DataFrameRefreshable

Direct Known Subclasses:

CANCoderAdapter, MockCANCoder

public abstract class XCANCoder
extends XAbsoluteEncoder

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	XCANCoder.XCANCoderFactory

Nested classes/interfaces inherited from class xbot.common.controls.sensors.XAbsoluteEncoder

XAbsoluteEncoder.XAbsoluteEncoderFactory

Field Summary

Fields inherited from class xbot.common.controls.sensors.XAbsoluteEncoder

info

Constructor Summary

Constructors

Constructor	Description
XCANCoder(DeviceInfo info)

Method Summary

Modifier and Type	Method	Description
abstract StatusCode	clearStickyFaults()
boolean	hasResetOccurred()
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
abstract StatusCode	setUpdateFrequencyForPosition(double frequencyInHz)	Updates how often we get data about the CANCoder position.
abstract StatusCode	stopAllUnsetSignals()	Stops all signals that are not explicitly set.
abstract void	updateInputs(XCANCoderInputs inputs)

Methods inherited from class xbot.common.controls.sensors.XAbsoluteEncoder

getAbsolutePosition, getDeviceId, getHealth, getPosition, getVelocity, setPosition, updateInputs

Methods inherited from class java.lang.Object

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

Constructor Details

XCANCoder

public XCANCoder(DeviceInfo info)

Method Details

setUpdateFrequencyForPosition

public abstract StatusCode setUpdateFrequencyForPosition(double frequencyInHz)

Updates how often we get data about the CANCoder position.

Parameters:

frequencyInHz - How many times per second we want to get data.

Returns:

The status code returned from the underlying object.

stopAllUnsetSignals

public abstract StatusCode stopAllUnsetSignals()

Stops all signals that are not explicitly set. For example, if you haven't called setUpdateFrequencyForPosition, this will stop that signal! Useful for reducing CAN bus traffic for data we're not reading.

Returns:

The status code returned from the underlying object.

clearStickyFaults

public abstract StatusCode clearStickyFaults()

hasResetOccurred

public boolean hasResetOccurred()

updateInputs

public abstract void updateInputs(XCANCoderInputs inputs)

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable

Overrides:

refreshDataFrame in class XAbsoluteEncoder