SparkMaxAlternateEncoder

class rev.SparkMaxAlternateEncoder

Bases: RelativeEncoder

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

class Type(value: int)

Bases: pybind11_object

The type of encoder wired as an Alternate Encoder on a SPARK MAX

Members:

kQuadrature

kQuadrature = <Type.kQuadrature: 0>

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.

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.

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.

The basic formula to calculate velocity is change in position / 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