CANEncoder
- class rev.CANEncoder
Bases:
MotorFeedbackSensor
- Deprecated:
Use SparkMaxRelativeEncoder or SparkMaxAlternateEncoder instead
- class AlternateEncoderType(value: int)
Bases:
pybind11_object
- Deprecated:
Use SparkMaxAlternateEncoder::Type instead
Members:
kQuadrature
- kQuadrature = <AlternateEncoderType.kQuadrature: 0>
- property name
- property value
- class EncoderType(value: int)
Bases:
pybind11_object
- Deprecated:
Use SparkMaxRelativeEncoder::Type instead
Members:
kNoSensor
kHallSensor
kQuadrature
- kHallSensor = <EncoderType.kHallSensor: 1>
- kNoSensor = <EncoderType.kNoSensor: 0>
- kQuadrature = <EncoderType.kQuadrature: 2>
- property name
- property value
- getAverageDepth() int
Get the average sampling depth for a quadrature encoder.
- Returns:
The average sampling depth
- getCountsPerRevolution() int
Get the counts per revolution of the quadrature encoder.
For a description on the difference between CPR, PPR, etc. go to https://www.cuidevices.com/blog/what-is-encoder-ppr-cpr-and-lpr
- Returns:
Counts per revolution
- getInverted() bool
Get the phase of the MotorFeedbackSensor. This will just return false if the user tries to get inverted while the SparkMax is Brushless and using the hall effect sensor.
- Returns:
The phase of the encoder
- getMeasurementPeriod() int
Get the number of samples for reading from a quadrature encoder. This value sets the number of samples in the average for velocity readings.
- Returns:
Measurement period in microseconds
- 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 setPositionConversionFactor().
- Returns:
Number of rotations of the motor
- getPositionConversionFactor() float
Get the conversion factor for position of the encoder. Multiplied by the native output units to give you position
- Returns:
The conversion factor for position
- 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 setVelocityConversionFactor().
- Returns:
Number the RPM of the motor
- getVelocityConversionFactor() float
Get the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity
- Returns:
The conversion factor for velocity
- setAverageDepth(depth: int) rev._rev.REVLibError
Set the average sampling depth for a quadrature encoder. This value sets the number of samples in the average for velocity readings. This can be any value from 1 to 64.
When the SparkMax controller is in Brushless mode, this will not change any behavior.
- Parameters:
depth – The average sampling depth between 1 and 64 (default)
- Returns:
REVLibError::kOk if successful
- setInverted(inverted: bool) rev._rev.REVLibError
Set the phase of the MotorFeedbackSensor so that it is set to be in phase with the motor itself. This only works for quadrature encoders. This will throw an error if the user tries to set inverted while the SparkMax is Brushless and using the hall effect sensor.
- Parameters:
inverted – The phase of the encoder
- Returns:
REVLibError::kOk if successful
- setMeasurementPeriod(period_ms: int) rev._rev.REVLibError
Set the measurement period for velocity measurements of a quadrature encoder. When the SparkMax controller is in Brushless mode, this will not change any behavior.
The basic formula to calculate velocity is change in positon / change in time. This parameter sets the change in time for measurement.
- Parameters:
period_ms – Measurement period in milliseconds. This number may be between 1 and 100 (default).
- Returns:
REVLibError::kOk if successful
- setPosition(position: float) rev._rev.REVLibError
Set the position of the encoder.
- Parameters:
position – Number of rotations of the motor
- Returns:
REVLibError::kOk if successful
- setPositionConversionFactor(factor: float) rev._rev.REVLibError
Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position
- Parameters:
factor – The conversion factor to multiply the native units by
- Returns:
REVLibError::kOk if successful
- setVelocityConversionFactor(factor: float) rev._rev.REVLibError
Set the conversion factor for velocity of the encoder. Multiplied by the native output units to give you velocity
- Parameters:
factor – The conversion factor to multiply the native units by
- Returns:
REVLibError::kOk if successful