Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder. More...

#include <frc/DutyCycleEncoder.h>

Inheritance diagram for frc::DutyCycleEncoder:

Public Member Functions
	DutyCycleEncoder (int channel)
	Construct a new DutyCycleEncoder on a specific channel.

	DutyCycleEncoder (DutyCycle &dutyCycle)
	Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

	DutyCycleEncoder (DutyCycle *dutyCycle)
	Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

	DutyCycleEncoder (std::shared_ptr< DutyCycle > dutyCycle)
	Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

	DutyCycleEncoder (int channel, double fullRange, double expectedZero)
	Construct a new DutyCycleEncoder on a specific channel.

	DutyCycleEncoder (DutyCycle &dutyCycle, double fullRange, double expectedZero)
	Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

	DutyCycleEncoder (DutyCycle *dutyCycle, double fullRange, double expectedZero)
	Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

	DutyCycleEncoder (std::shared_ptr< DutyCycle > dutyCycle, double fullRange, double expectedZero)
	Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

	~DutyCycleEncoder () override=default

	DutyCycleEncoder (DutyCycleEncoder &&)=default

DutyCycleEncoder &	operator= (DutyCycleEncoder &&)=default

units::hertz_t	GetFrequency () const
	Get the frequency of the duty cycle signal from the encoder.

bool	IsConnected () const
	Get if the sensor is connected.

void	SetConnectedFrequencyThreshold (units::hertz_t frequency)
	Change the frequency threshold for detecting connection used by IsConnected.

double	Get () const
	Get the encoder value.

void	SetDutyCycleRange (double min, double max)
	Set the encoder duty cycle range.

void	SetAssumedFrequency (units::hertz_t frequency)
	Sets the assumed frequency of the connected device.

void	SetInverted (bool inverted)
	Set if this encoder is inverted.

int	GetSourceChannel () const
	Get the channel of the source.

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.

Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default

Public Member Functions inherited from wpi::SendableHelper< DutyCycleEncoder >
constexpr	SendableHelper (const SendableHelper &rhs)=default

constexpr	SendableHelper (SendableHelper &&rhs)

constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default

constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< DutyCycleEncoder >
constexpr	SendableHelper ()=default

constexpr	~SendableHelper ()

Detailed Description

Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder.

Constructor & Destructor Documentation

◆ DutyCycleEncoder() [1/9]

frc::DutyCycleEncoder::DutyCycleEncoder ( int channel )

explicit

Construct a new DutyCycleEncoder on a specific channel.

This has a fullRange of 1 and an expectedZero of 0.

Parameters

channel the channel to attach to

◆ DutyCycleEncoder() [2/9]

frc::DutyCycleEncoder::DutyCycleEncoder ( DutyCycle & dutyCycle )

explicit

Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

This has a fullRange of 1 and an expectedZero of 0.

Parameters

dutyCycle the duty cycle to attach to

◆ DutyCycleEncoder() [3/9]

frc::DutyCycleEncoder::DutyCycleEncoder ( DutyCycle * dutyCycle )

explicit

Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

This has a fullRange of 1 and an expectedZero of 0.

Parameters

dutyCycle the duty cycle to attach to

◆ DutyCycleEncoder() [4/9]

frc::DutyCycleEncoder::DutyCycleEncoder ( std::shared_ptr< DutyCycle > dutyCycle )

explicit

Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

This has a fullRange of 1 and an expectedZero of 0.

Parameters

dutyCycle the duty cycle to attach to

◆ DutyCycleEncoder() [5/9]

frc::DutyCycleEncoder::DutyCycleEncoder	(	int	channel,
		double	fullRange,
		double	expectedZero )

Construct a new DutyCycleEncoder on a specific channel.

Parameters

channel	the channel to attach to
fullRange	the value to report at maximum travel
expectedZero	the reading where you would expect a 0 from get()

◆ DutyCycleEncoder() [6/9]

frc::DutyCycleEncoder::DutyCycleEncoder	(	DutyCycle &	dutyCycle,
		double	fullRange,
		double	expectedZero )

Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

Parameters

dutyCycle	the duty cycle to attach to
fullRange	the value to report at maximum travel
expectedZero	the reading where you would expect a 0 from get()

◆ DutyCycleEncoder() [7/9]

frc::DutyCycleEncoder::DutyCycleEncoder	(	DutyCycle *	dutyCycle,
		double	fullRange,
		double	expectedZero )

Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

Parameters

dutyCycle	the duty cycle to attach to
fullRange	the value to report at maximum travel
expectedZero	the reading where you would expect a 0 from get()

◆ DutyCycleEncoder() [8/9]

frc::DutyCycleEncoder::DutyCycleEncoder	(	std::shared_ptr< DutyCycle >	dutyCycle,
		double	fullRange,
		double	expectedZero )

Construct a new DutyCycleEncoder attached to an existing DutyCycle object.

Parameters

dutyCycle	the duty cycle to attach to
fullRange	the value to report at maximum travel
expectedZero	the reading where you would expect a 0 from get()

◆ ~DutyCycleEncoder()

frc::DutyCycleEncoder::~DutyCycleEncoder ( )

overridedefault

◆ DutyCycleEncoder() [9/9]

frc::DutyCycleEncoder::DutyCycleEncoder ( DutyCycleEncoder && )

default

Member Function Documentation

◆ Get()

double frc::DutyCycleEncoder::Get ( ) const

Get the encoder value.

Returns: the encoder value scaled by the full range input

◆ GetFrequency()

units::hertz_t frc::DutyCycleEncoder::GetFrequency ( ) const

Get the frequency of the duty cycle signal from the encoder.

Returns: duty cycle frequency

◆ GetSourceChannel()

int frc::DutyCycleEncoder::GetSourceChannel ( ) const

Get the channel of the source.

Returns: the source channel

◆ InitSendable()

void frc::DutyCycleEncoder::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ IsConnected()

bool frc::DutyCycleEncoder::IsConnected ( ) const

Get if the sensor is connected.

This uses the duty cycle frequency to determine if the sensor is connected. By default, a value of 100 Hz is used as the threshold, and this value can be changed with SetConnectedFrequencyThreshold.

Returns: true if the sensor is connected

◆ operator=()

DutyCycleEncoder & frc::DutyCycleEncoder::operator= ( DutyCycleEncoder && )

default

◆ SetAssumedFrequency()

void frc::DutyCycleEncoder::SetAssumedFrequency ( units::hertz_t frequency )

Sets the assumed frequency of the connected device.

By default, the DutyCycle engine has to compute the frequency of the input signal. This can result in both delayed readings and jumpy readings. To solve this, you can pass the expected frequency of the sensor to this function. This will use that frequency to compute the DutyCycle percentage, rather than the computed frequency.

Parameters

frequency the assumed frequency of the sensor

◆ SetConnectedFrequencyThreshold()

void frc::DutyCycleEncoder::SetConnectedFrequencyThreshold ( units::hertz_t frequency )

Change the frequency threshold for detecting connection used by IsConnected.

Parameters

frequency the minimum frequency.

◆ SetDutyCycleRange()

void frc::DutyCycleEncoder::SetDutyCycleRange	(	double	min,
		double	max )

Set the encoder duty cycle range.

As the encoder needs to maintain a duty cycle, the duty cycle cannot go all the way to 0% or all the way to 100%. For example, an encoder with a 4096 us period might have a minimum duty cycle of 1 us / 4096 us and a maximum duty cycle of 4095 / 4096 us. Setting the range will result in an encoder duty cycle less than or equal to the minimum being output as 0 rotation, the duty cycle greater than or equal to the maximum being output as 1 rotation, and values in between linearly scaled from 0 to 1.

Parameters

min	minimum duty cycle (0-1 range)
max	maximum duty cycle (0-1 range)

◆ SetInverted()

void frc::DutyCycleEncoder::SetInverted ( bool inverted )

Set if this encoder is inverted.

Parameters

inverted true to invert the encoder, false otherwise

The documentation for this class was generated from the following file:

frc/DutyCycleEncoder.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DutyCycleEncoder() [1/9]

◆ DutyCycleEncoder() [2/9]

◆ DutyCycleEncoder() [3/9]

◆ DutyCycleEncoder() [4/9]

◆ DutyCycleEncoder() [5/9]

◆ DutyCycleEncoder() [6/9]

◆ DutyCycleEncoder() [7/9]

◆ DutyCycleEncoder() [8/9]

◆ ~DutyCycleEncoder()

◆ DutyCycleEncoder() [9/9]

Member Function Documentation

◆ Get()

◆ GetFrequency()

◆ GetSourceChannel()

◆ InitSendable()

◆ IsConnected()

◆ operator=()

◆ SetAssumedFrequency()

◆ SetConnectedFrequencyThreshold()

◆ SetDutyCycleRange()

◆ SetInverted()