SparkMaxAlternateEncoder

class rev.SparkMaxAlternateEncoder

Bases: RelativeEncoder

Get an instance of this class by using SparkMax::GetEncoder() or SparkMax::GetEncoder(SparkMax::EncoderType, int).

getPosition() → float

Get the position of the motor. This returns the native units of ‘rotations’ by default, and can be changed by a scale factor using AlternateEncoderConfig::PositionConversionFactor().

Returns:

Number of rotations of the motor

getVelocity() → float

Get the velocity of the motor. This returns the native units of ‘RPM’ by default, and can be changed by a scale factor using AlternateEncoderConfig::VelocityConversionFactor().

Returns:

Number the RPM of the motor

setPosition(position: SupportsFloat) → rev._rev.REVLibError

Set the position of the encoder.

Parameters:

position – Number of rotations of the motor

Returns:

REVLibError::kOk if successful