AlternateEncoderConfig

class rev.AlternateEncoderConfig

Bases: BaseConfig

class Presets

Bases: pybind11_object

static REV_SplineEncoder() → rev._rev.AlternateEncoderConfig: REV Robotics - MAXSpline Encoder (via 6-pin JST)

static REV_ThroughBoreEncoder() → rev._rev.AlternateEncoderConfig: REV Robotics - Through Bore Encoder

static REV_ThroughBoreEncoderV2() → rev._rev.AlternateEncoderConfig: REV Robotics - Through Bore Encoder V2

class Type(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Members:

kQuadrature

kQuadrature = <Type.kQuadrature: 0>

AlternateEncoderConfig.Type.name -> str

property value

apply(config: rev._rev.AlternateEncoderConfig) → rev._rev.AlternateEncoderConfig

Applies settings from another AlternateEncoderConfig to this one.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters:: config – The AlternateEncoderConfig to copy settings from
Returns:: The updated AlternateEncoderConfig for method chaining

averageDepth(depth: SupportsInt | SupportsIndex) → rev._rev.AlternateEncoderConfig

Set the sampling depth of the velocity calculation process of the alternate encoder. This value sets the number of samples in the average for velocity readings. For a quadrature encoder, this can be any value from 1 to 64 (default).

Parameters:: depth – The velocity calculation process’s sampling depth
Returns:: The modified AlternateEncoderConfig object for method chaining

countsPerRevolution(cpr: SupportsInt | SupportsIndex) → rev._rev.AlternateEncoderConfig

Set the counts per revolutions of the alternate encoder.

Parameters:: cpr – The counts per rotation
Returns:: The modified AlternateEncoderConfig object for method chaining

static fromId(id: SupportsInt | SupportsIndex) → rev._rev.AlternateEncoderConfig.Type

inverted(inverted: bool) → rev._rev.AlternateEncoderConfig

Set the phase of the alternate encoder so that it is in phase with the motor itself.

Parameters:: inverted – The phase of the encoder
Returns:: The modified AlternateEncoderConfig object for method chaining

measurementPeriod(periodMs: SupportsInt | SupportsIndex) → rev._rev.AlternateEncoderConfig

Set the position measurement period used to calculate the velocity of the alternate encoder. For a quadrature encoder, this number may be between 1 and 100 (default).

The basic formula to calculate velocity is change in position / change in time. This parameter sets the change in time for measurement.

Parameters:: periodMs – Measurement period in milliseconds
Returns:: The modified AlternateEncoderConfig object for method chaining

positionConversionFactor(factor: SupportsFloat | SupportsIndex) → rev._rev.AlternateEncoderConfig

Set the conversion factor for the position of the alternate encoder. Position is returned in native units of rotations and will be multiplied by this conversion factor.

Parameters:: factor – The conversion factor to multiply the native units by
Returns:: The modified AlternateEncoderConfig object for method chaining

setSparkMaxDataPortConfig() → rev._rev.AlternateEncoderConfig

Configures the data port to use the alternate encoder, which is specifically required for SPARK MAX.

NOTE: This method is only necessary when using an alternate encoder with a SPARK MAX without configuring any of its settings

IMPORTANT: SPARK MAX does not support using an alternate encoder in conjunction with an absolute encoder and/or limit switches.

Returns:: The modified AlternateEncoderConfig object for method chaining

velocityConversionFactor(factor: SupportsFloat | SupportsIndex) → rev._rev.AlternateEncoderConfig

Set the conversion factor for the velocity of the alternate encoder. Velocity is returned in native units of rotations per minute and will be multiplied by this conversion factor.

Parameters:: factor – The conversion factor to multiply the native units by
Returns:: The modified AlternateEncoderConfig object for method chaining