Package xbot.common.controls.sensors.wpi_adapters

Class CANCoderAdapter

java.lang.Object

xbot.common.controls.sensors.XAbsoluteEncoder

xbot.common.controls.sensors.XCANCoder

xbot.common.controls.sensors.wpi_adapters.CANCoderAdapter

All Implemented Interfaces:

DataFrameRefreshable

public class CANCoderAdapter
extends XCANCoder

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CANCoderAdapter.CANCoderAdapterFactory

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

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
CANCoderAdapter(DeviceInfo deviceInfo, String owningSystemPrefix, DevicePolice police, PropertyFactory pf)

Method Summary

Modifier and Type	Method	Description
StatusCode	clearStickyFaults()
Angle	getAbsolutePosition_internal()
int	getDeviceId()
DeviceHealth	getHealth_internal()
double	getMagnetOffset()	Gets the magnet offset configured on the encoder device.
Angle	getPosition_internal()
AngularVelocity	getVelocity_internal()
boolean	hasResetOccurred_internal()
boolean	setMagnetOffset(double offsetInDegrees)	Sets the magnet offset configured on the encoder device.
void	setPosition(Angle newPosition)
StatusCode	setUpdateFrequencyForPosition(double frequencyInHz)	Updates how often we get data about the CANCoder position.
StatusCode	stopAllUnsetSignals()	Stops all signals that are not explicitly set.
void	updateInputs(XAbsoluteEncoderInputs inputs)
void	updateInputs(XCANCoderInputs inputs)

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

hasResetOccurred, refreshDataFrame

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

getAbsolutePosition, getHealth, getPosition, getVelocity

Methods inherited from class java.lang.Object

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

Constructor Details

CANCoderAdapter

@AssistedInject
public CANCoderAdapter(@Assisted("deviceInfo")
 DeviceInfo deviceInfo,
 @Assisted("owningSystemPrefix")
 String owningSystemPrefix,
 DevicePolice police,
 PropertyFactory pf)

Method Details

getDeviceId

public int getDeviceId()

Specified by:

getDeviceId in class XAbsoluteEncoder

getPosition_internal

public Angle getPosition_internal()

getAbsolutePosition_internal

public Angle getAbsolutePosition_internal()

getVelocity_internal

public AngularVelocity getVelocity_internal()

getHealth_internal

public DeviceHealth getHealth_internal()

setPosition

public void setPosition(Angle newPosition)

Specified by:

setPosition in class XAbsoluteEncoder

getMagnetOffset

public double getMagnetOffset()

Gets the magnet offset configured on the encoder device. Blocking call.

Returns:

The magnet offset in degrees

setMagnetOffset

public boolean setMagnetOffset(double offsetInDegrees)

Sets the magnet offset configured on the encoder device.

Parameters:

offsetInDegrees - The magnet offset in degrees

Returns:

True on success.

setUpdateFrequencyForPosition

public StatusCode setUpdateFrequencyForPosition(double frequencyInHz)

Description copied from class: XCANCoder

Updates how often we get data about the CANCoder position.

Specified by:

setUpdateFrequencyForPosition in class XCANCoder

Parameters:

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

Returns:

The status code returned from the underlying object.

stopAllUnsetSignals

public StatusCode stopAllUnsetSignals()

Description copied from class: XCANCoder

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.

Specified by:

stopAllUnsetSignals in class XCANCoder

Returns:

The status code returned from the underlying object.

clearStickyFaults

public StatusCode clearStickyFaults()

Specified by:

clearStickyFaults in class XCANCoder

hasResetOccurred_internal

public boolean hasResetOccurred_internal()

updateInputs

public void updateInputs(XAbsoluteEncoderInputs inputs)

Specified by:

updateInputs in class XAbsoluteEncoder

updateInputs

public void updateInputs(XCANCoderInputs inputs)

Specified by:

updateInputs in class XCANCoder