fang-robotics-mcb

Class EncoderInterface¶

Defined in File encoder_interface.hpp

Inheritance Relationships¶

Derived Types¶

public tap::encoder::MultiEncoder< 2 > (Template Class MultiEncoder)
public tap::encoder::MultiEncoder< 3 > (Template Class MultiEncoder)
public tap::encoder::MultiEncoder< COUNT > (Template Class MultiEncoder)
public tap::encoder::WrappedEncoder (Class WrappedEncoder)

Class Documentation¶

class EncoderInterface¶

Subclassed by tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, tap::encoder::MultiEncoder< COUNT >, tap::encoder::WrappedEncoder

Public Functions

virtual void initialize() = 0¶: Initialize the encoder. For instance: attaching a can receiver.

virtual bool isOnline() const = 0¶: Returns true when the encoder is online and reporting valid values.

virtual void resetEncoderValue() = 0¶: Zeros the encoder to its current position. All encoder positions will be based from this position.

virtual tap::algorithms::WrappedFloat getPosition() const = 0¶: Gets the current position of the encoder, in a wrapped float on the range [0, M_TWOPI)

virtual float getVelocity() const = 0¶: Gets the current velocity reported by the encoder. Returned in a value of radians / second

virtual void alignWith(EncoderInterface *other) = 0¶: Aligns this encoder to another encoder so that their positions are equal. If the two encoders are mechanically linked, they would then continue to report the same position.