Encoder Class Reference

#include <Encoder.h>

Inheritance diagram for Encoder:

Public Member Functions
	Encoder ()
virtual	~Encoder ()
const ClassIdentifier	getInfo ()
virtual EncoderType	getEncoderType ()
virtual int32_t	getPos ()
virtual float	getPos_f ()
virtual int32_t	getPosAbs ()
virtual float	getPosAbs_f ()
virtual void	setPos (int32_t pos)
virtual uint32_t	getCpr ()
virtual const ClassType	getClassType () override
	returns the used classchooser selection id of this instance
Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()
uint16_t	getSelectionID ()

Static Public Attributes
static ClassIdentifier	info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible}
static const std::vector< class_entry< Encoder > >	all_encoders
Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Protected Attributes
uint32_t	cpr = 0
Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation.

Additional Inherited Members
Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Detailed Description

Definition at line 29 of file Encoder.h.

Constructor & Destructor Documentation

Encoder()

Encoder::Encoder

(

)

Definition at line 18 of file Encoder.cpp.

~Encoder()

Encoder::~Encoder ( )

virtual

Definition at line 22 of file Encoder.cpp.

Member Function Documentation

getClassType()

virtual const ClassType Encoder::getClassType ( )

inlineoverridevirtual

returns the used classchooser selection id of this instance

Type of this class. Mainclass, motordriver... Should be implemented by the parent class so it is not in the info struct

Reimplemented from ChoosableClass.

Reimplemented in TMC4671.

Definition at line 50 of file Encoder.h.

getCpr()

uint32_t Encoder::getCpr ( )

virtual

Gets the amount of counts per full rotation of the encoder

Reimplemented in EncoderBissC, EncoderSSI, MotorSimplemotion, MtEncoderSPI, ODriveCAN, RmdMotorCAN, TMC4671, and VescCAN.

Definition at line 36 of file Encoder.cpp.

getEncoderType()

EncoderType Encoder::getEncoderType ( )

virtual

Returns the type of the encoder. Must override this and NOT return NONE in other classes

Reimplemented in EncoderBissC, EncoderLocal, EncoderSSI, MotorSimplemotion, MtEncoderSPI, ODriveCAN, RmdMotorCAN, TMC4671, and VescCAN.

Definition at line 29 of file Encoder.cpp.

getInfo()

const ClassIdentifier Encoder::getInfo ( )

virtual

Implements ChoosableClass.

Reimplemented in EncoderBissC, EncoderLocal, EncoderSSI, MotorSimplemotion1, MotorSimplemotion2, MotorSimplemotion, MtEncoderSPI, ODriveCAN1, ODriveCAN2, ODriveCAN, RmdMotorCAN1, RmdMotorCAN2, RmdMotorCAN, TMC4671, VESC_1, and VESC_2.

Definition at line 14 of file Encoder.cpp.

getPos()

int32_t Encoder::getPos ( )

virtual

Returns the encoder position as raw counts

Reimplemented in EncoderBissC, EncoderLocal, EncoderSSI, MotorSimplemotion, MtEncoderSPI, ODriveCAN, RmdMotorCAN, TMC4671, and VescCAN.

Definition at line 44 of file Encoder.cpp.

getPos_f()

float Encoder::getPos_f ( )

virtual

Returns a float position in rotations

Reimplemented in ODriveCAN, and VescCAN.

Definition at line 67 of file Encoder.cpp.

getPosAbs()

int32_t Encoder::getPosAbs ( )

virtual

Returns absolute positions without offsets for absolute encoders. Otherwise it returns getPos

Reimplemented in EncoderBissC, EncoderSSI, MtEncoderSPI, and TMC4671.

Definition at line 59 of file Encoder.cpp.

getPosAbs_f()

float Encoder::getPosAbs_f ( )

virtual

Definition at line 48 of file Encoder.cpp.

setPos()

void Encoder::setPos ( int32_t pos )

virtual

Change the position of the encoder Can be used to reset the center

Reimplemented in EncoderBissC, EncoderLocal, EncoderSSI, MotorSimplemotion, MtEncoderSPI, ODriveCAN, RmdMotorCAN, TMC4671, and VescCAN.

Definition at line 78 of file Encoder.cpp.

Member Data Documentation

all_encoders

std::vector< class_entry< Encoder > > const Encoder::all_encoders

static

Initial value:

=
    {
        add_class<Encoder, Encoder>(0),
 
#ifdef LOCALENCODER
        add_class<EncoderLocal, Encoder>(2),
#endif
 
#ifdef MTENCODERSPI
        add_class<MtEncoderSPI, Encoder>(4),
#endif
#ifdef BISSENCODER
        add_class<EncoderBissC, Encoder>(5),
#endif
#ifdef SSIENCODER
        add_class<EncoderSSI, Encoder>(6),
#endif
}

Definition at line 15 of file Encoder.h.

cpr

uint32_t Encoder::cpr = 0

protected

Definition at line 53 of file Encoder.h.

info

ClassIdentifier Encoder::info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible}

static

Definition at line 11 of file Encoder.h.

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The documentation for this class was generated from the following files:

• Encoder.h
• Encoder.cpp
• EncoderSources.cpp