frc.team670.robot.dataCollection.sensors

Class MustangDriveBaseEncoder

java.lang.Object

frc.team670.robot.dataCollection.sensors.MustangDriveBaseEncoder

public class MustangDriveBaseEncoder
extends java.lang.Object

A Mustang Encoder holds both a DIOEncoder and a Spark Encoder. The Spark Encoder will only be used if the DIOEncoder is not plugged in properly (is null). Does PIDOutput in ticks.

Constructor Summary

Constructors

Constructor and Description
MustangDriveBaseEncoder(Encoder dioEncoder, CANEncoder sparkEncoder, boolean isSparkMAXInverted)

Method Summary

Modifier and Type	Method and Description
PIDSourceType	getPIDSourceType()
double	getPositionInches() Returns the position determined by the encoder in inches
int	getPositionTicks() Returns the position determined by the encoder in ticks
double	getVelocityInches() Returns the velocity determined by the encoder in inches/second
double	getVelocityTicks() Returns the velocity determined by the encoder in ticks/second
double	pidGet()
void	setPIDSourceType(PIDSourceType pidSource)

Methods inherited from class java.lang.Object

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

Constructor Detail

MustangDriveBaseEncoder

public MustangDriveBaseEncoder(Encoder dioEncoder,
                               CANEncoder sparkEncoder,
                               boolean isSparkMAXInverted)

Parameters:

dioEncoder - the DIO Encoder used for this side of the drivebase

sparkEncoder - the Spark Encoder associatd for this side of the drivebase

Method Detail

getPositionTicks

public int getPositionTicks()

Returns the position determined by the encoder in ticks

getPositionInches

public double getPositionInches()

Returns the position determined by the encoder in inches

getVelocityInches

public double getVelocityInches()

Returns the velocity determined by the encoder in inches/second

getVelocityTicks

public double getVelocityTicks()

Returns the velocity determined by the encoder in ticks/second

setPIDSourceType

public void setPIDSourceType(PIDSourceType pidSource)

getPIDSourceType

public PIDSourceType getPIDSourceType()

pidGet

public double pidGet()