tap::encoder::EncoderInterface Class Reference

#include <encoder_interface.hpp>

Inheritance diagram for tap::encoder::EncoderInterface:

Public Member Functions
virtual void	initialize ()=0
virtual bool	isOnline () const =0
virtual void	resetEncoderValue ()=0
virtual tap::algorithms::WrappedFloat	getPosition () const =0
virtual float	getVelocity () const =0
virtual void	alignWith (EncoderInterface *other)=0

Member Function Documentation

alignWith()

virtual void tap::encoder::EncoderInterface::alignWith ( EncoderInterface *  other )

pure virtual

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.

Implemented in tap::encoder::MultiEncoder< COUNT >, tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, and tap::encoder::WrappedEncoder.

getPosition()

virtual tap::algorithms::WrappedFloat tap::encoder::EncoderInterface::getPosition ( ) const

pure virtual

Gets the current position of the encoder, in a wrapped float on the range [0, M_TWOPI)

Implemented in tap::encoder::MultiEncoder< COUNT >, tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, and tap::encoder::WrappedEncoder.

getVelocity()

virtual float tap::encoder::EncoderInterface::getVelocity ( ) const

pure virtual

Gets the current velocity reported by the encoder. Returned in a value of radians / second

Implemented in tap::encoder::MultiEncoder< COUNT >, tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, tap::encoder::WrappedEncoder, and tap::motor::DjiMotorEncoder.

initialize()

virtual void tap::encoder::EncoderInterface::initialize ( )

pure virtual

Initialize the encoder. For instance: attaching a can receiver.

Implemented in tap::encoder::MultiEncoder< COUNT >, tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, tap::encoder::WrappedEncoder, and tap::motor::DjiMotorEncoder.

isOnline()

virtual bool tap::encoder::EncoderInterface::isOnline ( ) const

pure virtual

Returns true when the encoder is online and reporting valid values.

Implemented in tap::encoder::MultiEncoder< COUNT >, tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, and tap::motor::DjiMotorEncoder.

resetEncoderValue()

virtual void tap::encoder::EncoderInterface::resetEncoderValue ( )

pure virtual

Zeros the encoder to its current position. All encoder positions will be based from this position.

Implemented in tap::encoder::MultiEncoder< COUNT >, tap::encoder::MultiEncoder< 2 >, tap::encoder::MultiEncoder< 3 >, and tap::encoder::WrappedEncoder.

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

• fang-mcb-project/taproot/src/tap/communication/sensors/encoder/encoder_interface.hpp