frc::AnalogEncoder Class Reference

Class for supporting continuous analog encoders, such as the US Digital MA3. More...

#include <frc/AnalogEncoder.h>

Inheritance diagram for frc::AnalogEncoder:

Public Member Functions
	AnalogEncoder (int channel)
	Construct a new AnalogEncoder attached to a specific AnalogIn channel. More...
	AnalogEncoder (AnalogInput &analogInput)
	Construct a new AnalogEncoder attached to a specific AnalogInput. More...
	AnalogEncoder (AnalogInput *analogInput)
	Construct a new AnalogEncoder attached to a specific AnalogInput. More...
	AnalogEncoder (std::shared_ptr< AnalogInput > analogInput)
	Construct a new AnalogEncoder attached to a specific AnalogInput. More...
	~AnalogEncoder () override=default
	AnalogEncoder (AnalogEncoder &&)=default
AnalogEncoder &	operator= (AnalogEncoder &&)=default
void	Reset ()
	Reset the Encoder distance to zero. More...
units::turn_t	Get () const
	Get the encoder value since the last reset. More...
double	GetAbsolutePosition () const
	Get the absolute position of the analog encoder. More...
double	GetPositionOffset () const
	Get the offset of position relative to the last reset. More...
void	SetPositionOffset (double offset)
	Set the position offset. More...
void	SetDistancePerRotation (double distancePerRotation)
	Set the distance per rotation of the encoder. More...
double	GetDistancePerRotation () const
	Get the distance per rotation for this encoder. More...
double	GetDistance () const
	Get the distance the sensor has driven since the last reset as scaled by the value from SetDistancePerRotation. More...
int	GetChannel () const
	Get the channel number. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< AnalogEncoder >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

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

Detailed Description

Class for supporting continuous analog encoders, such as the US Digital MA3.

Constructor & Destructor Documentation

AnalogEncoder() [1/5]

frc::AnalogEncoder::AnalogEncoder ( int  channel )

explicit

Construct a new AnalogEncoder attached to a specific AnalogIn channel.

Parameters

channel

the analog input channel to attach to

AnalogEncoder() [2/5]

frc::AnalogEncoder::AnalogEncoder ( AnalogInput &  analogInput )

explicit

Construct a new AnalogEncoder attached to a specific AnalogInput.

Parameters

analogInput

the analog input to attach to

AnalogEncoder() [3/5]

frc::AnalogEncoder::AnalogEncoder ( AnalogInput *  analogInput )

explicit

Construct a new AnalogEncoder attached to a specific AnalogInput.

Parameters

analogInput

the analog input to attach to

AnalogEncoder() [4/5]

frc::AnalogEncoder::AnalogEncoder ( std::shared_ptr< AnalogInput >  analogInput )

explicit

Construct a new AnalogEncoder attached to a specific AnalogInput.

Parameters

analogInput

the analog input to attach to

~AnalogEncoder()

frc::AnalogEncoder::~AnalogEncoder ( )

overridedefault

AnalogEncoder() [5/5]

frc::AnalogEncoder::AnalogEncoder ( AnalogEncoder &&  )

default

Member Function Documentation

Get()

units::turn_t frc::AnalogEncoder::Get

(

)

const

Get the encoder value since the last reset.

This is reported in rotations since the last reset.

Returns

the encoder value in rotations

GetAbsolutePosition()

double frc::AnalogEncoder::GetAbsolutePosition

(

)

const

Get the absolute position of the analog encoder.

GetAbsolutePosition() - GetPositionOffset() will give an encoder absolute position relative to the last reset. This could potentially be negative, which needs to be accounted for.

This will not account for rollovers, and will always be just the raw absolute position.

Returns

the absolute position

GetChannel()

int frc::AnalogEncoder::GetChannel

(

)

const

Get the channel number.

Returns

The channel number.

GetDistance()

double frc::AnalogEncoder::GetDistance

(

)

const

Get the distance the sensor has driven since the last reset as scaled by the value from SetDistancePerRotation.

Returns

The distance driven since the last reset

GetDistancePerRotation()

double frc::AnalogEncoder::GetDistancePerRotation

(

)

const

Get the distance per rotation for this encoder.

Returns

The scale factor that will be used to convert rotation to useful units.

GetPositionOffset()

double frc::AnalogEncoder::GetPositionOffset

(

)

const

Get the offset of position relative to the last reset.

GetAbsolutePosition() - GetPositionOffset() will give an encoder absolute position relative to the last reset. This could potentially be negative, which needs to be accounted for.

Returns

the position offset

InitSendable()

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

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

AnalogEncoder & frc::AnalogEncoder::operator= ( AnalogEncoder &&  )

default

Reset()

void frc::AnalogEncoder::Reset

(

)

Reset the Encoder distance to zero.

SetDistancePerRotation()

void frc::AnalogEncoder::SetDistancePerRotation

(

double

distancePerRotation

)

Set the distance per rotation of the encoder.

This sets the multiplier used to determine the distance driven based on the rotation value from the encoder. Set this value based on the how far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions following the encoder shaft. This distance can be in any units you like, linear or angular.

Parameters

distancePerRotation

the distance per rotation of the encoder

SetPositionOffset()

void frc::AnalogEncoder::SetPositionOffset

(

double

offset

)

Set the position offset.

This must be in the range of 0-1.

Parameters

offset

the offset

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

• frc/AnalogEncoder.h