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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,45 +1,45 @@ | ||
| // #include "encoders/CanAndCoderSwerve.h" | ||
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| // namespace yagsl | ||
| // { | ||
| // CanAndCoderSwerve::CanAndCoderSwerve(int canid) | ||
| // : encoder(canid) | ||
| // { | ||
| // } | ||
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| // void CanAndCoderSwerve::FactoryDefault() | ||
| // { | ||
| // encoder.resetFactoryDefaults(false); | ||
| // } | ||
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| // void CanAndCoderSwerve::ClearStickyFaults() | ||
| // { | ||
| // encoder.clearStickyFaults(); | ||
| // } | ||
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| // void CanAndCoderSwerve::Configure(bool inverted) | ||
| // { | ||
| // encoder.setSettings(Canandcoder::Settings().setInvertDirection(inverted)); | ||
| // } | ||
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| // double CanAndCoderSwerve::GetAbsolutePosition() const | ||
| // { | ||
| // return encoder.getAbsPosition() * 360.0; | ||
| // } | ||
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| // void *CanAndCoderSwerve::GetAbsoluteEncoder() const | ||
| // { | ||
| // return &encoder; | ||
| // } | ||
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| // bool CanAndCoderSwerve::SetAbsoluteEncoderOffset(double offset) | ||
| // { | ||
| // return encoder.setSettings(Canandcoder::Settings().setZeroOffset(offset)); | ||
| // } | ||
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| // double CanAndCoderSwerve::GetVelocity() | ||
| // { | ||
| // return encoder.getVelocity() * 360.0; | ||
| // } | ||
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| // } // namespace yagsl | ||
| #include "encoders/CanAndCoderSwerve.h" | ||
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| namespace yagsl | ||
| { | ||
| CanAndCoderSwerve::CanAndCoderSwerve(int canid) | ||
| : encoder(canid) | ||
| { | ||
| } | ||
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| void CanAndCoderSwerve::FactoryDefault() | ||
| { | ||
| encoder.resetFactoryDefaults(false); | ||
| } | ||
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| void CanAndCoderSwerve::ClearStickyFaults() | ||
| { | ||
| encoder.clearStickyFaults(); | ||
| } | ||
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| void CanAndCoderSwerve::Configure(bool inverted) | ||
| { | ||
| encoder.setSettings(Canandcoder::Settings().setInvertDirection(inverted)); | ||
| } | ||
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| double CanAndCoderSwerve::GetAbsolutePosition() const | ||
| { | ||
| return encoder.getAbsPosition() * 360.0; | ||
| } | ||
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| void *CanAndCoderSwerve::GetAbsoluteEncoder() const | ||
| { | ||
| return &encoder; | ||
| } | ||
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| bool CanAndCoderSwerve::SetAbsoluteEncoderOffset(double offset) | ||
| { | ||
| return encoder.setSettings(Canandcoder::Settings().setZeroOffset(offset)); | ||
| } | ||
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| double CanAndCoderSwerve::GetVelocity() | ||
| { | ||
| return encoder.getVelocity() * 360.0; | ||
| } | ||
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| } // namespace yagsl |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,71 +1,71 @@ | ||
| // #pragma once | ||
| #pragma once | ||
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| // #include "SwerveAbsoluteEncoder.h" | ||
| // #include <Canandcoder.h> | ||
| #include "SwerveAbsoluteEncoder.h" | ||
| #include <Canandcoder.h> | ||
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| // namespace yagsl | ||
| // { | ||
| // /** | ||
| // * @brief HELIUM Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus. | ||
| // */ | ||
| // class CanAndCoderSwerve : public SwerveAbsoluteEncoder | ||
| // { | ||
| // public: | ||
| // /** | ||
| // * @brief Create the Canandcoder. | ||
| // * | ||
| // * @param canid The CAN ID whenever the CANandCoder is operating on the CANBus. | ||
| // */ | ||
| // CanAndCoderSwerve(int canid); | ||
| namespace yagsl | ||
| { | ||
| /** | ||
| * @brief HELIUM Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus. | ||
| */ | ||
| class CanAndCoderSwerve : public SwerveAbsoluteEncoder | ||
| { | ||
| public: | ||
| /** | ||
| * @brief Create the Canandcoder. | ||
| * | ||
| * @param canid The CAN ID whenever the CANandCoder is operating on the CANBus. | ||
| */ | ||
| CanAndCoderSwerve(int canid); | ||
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| // /** | ||
| // * @brief Reset the encoder to factory defaults. This will not clear the stored zero offset. | ||
| // */ | ||
| // void FactoryDefault() override; | ||
| /** | ||
| * @brief Reset the encoder to factory defaults. This will not clear the stored zero offset. | ||
| */ | ||
| void FactoryDefault() override; | ||
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| // /** | ||
| // * @brief Clear sticky faults on the encoder. | ||
| // */ | ||
| // void ClearStickyFaults() override; | ||
| /** | ||
| * @brief Clear sticky faults on the encoder. | ||
| */ | ||
| void ClearStickyFaults() override; | ||
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| // /** | ||
| // * @brief Configure the Canandcoder to read from [0, 360) per second. | ||
| // * | ||
| // * @param inverted Whether the encoder is inverted. | ||
| // */ | ||
| // void Configure(bool inverted) override; | ||
| /** | ||
| * @brief Configure the Canandcoder to read from [0, 360) per second. | ||
| * | ||
| * @param inverted Whether the encoder is inverted. | ||
| */ | ||
| void Configure(bool inverted) override; | ||
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| // /** | ||
| // * @brief Get the absolute position of the encoder. | ||
| // * | ||
| // * @return Absolute position in degrees from [0, 360). | ||
| // */ | ||
| // double GetAbsolutePosition() const override; | ||
| /** | ||
| * @brief Get the absolute position of the encoder. | ||
| * | ||
| * @return Absolute position in degrees from [0, 360). | ||
| */ | ||
| double GetAbsolutePosition() const override; | ||
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| // /** | ||
| // * @brief Get the instantiated absolute encoder Object. | ||
| // * | ||
| // * @return Pointer to the absolute encoder object. | ||
| // */ | ||
| // void *GetAbsoluteEncoder() const override; | ||
| /** | ||
| * @brief Get the instantiated absolute encoder Object. | ||
| * | ||
| * @return Pointer to the absolute encoder object. | ||
| */ | ||
| void *GetAbsoluteEncoder() const override; | ||
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| // /** | ||
| // * @brief Set the offset of the Canandcoder. | ||
| // * | ||
| // * @param offset The offset the Absolute Encoder uses as the zero point. | ||
| // * @return true if setting the zero point succeeded, false otherwise. | ||
| // */ | ||
| // bool SetAbsoluteEncoderOffset(double offset) override; | ||
| /** | ||
| * @brief Set the offset of the Canandcoder. | ||
| * | ||
| * @param offset The offset the Absolute Encoder uses as the zero point. | ||
| * @return true if setting the zero point succeeded, false otherwise. | ||
| */ | ||
| bool SetAbsoluteEncoderOffset(double offset) override; | ||
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| // /** | ||
| // * @brief Get the velocity in degrees/sec. | ||
| // * | ||
| // * @return Velocity in degrees/sec. | ||
| // */ | ||
| // double GetVelocity() override; | ||
| /** | ||
| * @brief Get the velocity in degrees/sec. | ||
| * | ||
| * @return Velocity in degrees/sec. | ||
| */ | ||
| double GetVelocity() override; | ||
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| // private: | ||
| // Canandcoder encoder; | ||
| // }; | ||
| private: | ||
| Canandcoder encoder; | ||
| }; | ||
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| // } // namespace yagsl | ||
| } // namespace yagsl |