Malefix/xyz.malefic.frc.pingu.encoder/Engu

Engu

class Engu(id: Int, canbus: CANBus = CANBus.roboRIO()) : CANcoder

Enhanced CANcoder wrapper class with simplified configuration and utility methods.

Provides convenient methods for common encoder operations like angle reading, offset calibration, and unit conversions specifically useful for swerve drive modules.

Usage Examples:

// Basic setup
val encoder = Engu(1)

// Configure with offset and direction
encoder.configure {
    MagnetSensor.apply {
        SensorDirection = SensorDirectionValue.CounterClockwise_Positive
        MagnetOffset = 0.25
    }
}

// Get angle as Rotation2d
val angle = encoder.rotation

// Get position in rotations
val rotations = encoder.rotations

// Get position in degrees
val degrees = encoder.degrees

Constructors

constructor(id: Int, canbus: CANBus = CANBus.roboRIO())

Properties

absolutePosition

val absolutePosition: StatusSignal<Angle?>?

val angle: Angle

Gets the absolute position as a measured angle.

angularVelocity

val angularVelocity: AngularVelocity

Gets the angular velocity as a measured value.

val appliedControl: ControlRequest?

lateinit var configuration: CANcoderConfiguration

Holds the last CANcoderConfiguration applied to this CANcoder. This property is updated whenever the configure method is called. It allows retrieval of the configuration settings for inspection or reuse.

val configurator: CANcoderConfigurator?

val degrees: Double

Gets the absolute position in degrees (0.0 to 360.0).

val deviceHash: Long

val deviceID: Int

fault_BadMagnet

val fault_BadMagnet: StatusSignal<Boolean?>?

fault_BootDuringEnable

val fault_BootDuringEnable: StatusSignal<Boolean?>?

val fault_Hardware: StatusSignal<Boolean?>?

fault_Undervoltage

val fault_Undervoltage: StatusSignal<Boolean?>?

fault_UnlicensedFeatureInUse

val fault_UnlicensedFeatureInUse: StatusSignal<Boolean?>?

val faultField: StatusSignal<Int?>?

val isConnected: Boolean

val isProLicensed: StatusSignal<Boolean?>?

val magnetHealth: StatusSignal<MagnetHealthValue?>?

val network: CANBus?

val offset: Rotation2d

Gets the current magnet offset.

val position: StatusSignal<Angle?>?

positionSinceBoot

val positionSinceBoot: StatusSignal<Angle?>?

val radians: Double

Gets the absolute position in radians (0.0 to 2π).

resetOccurredChecker

val resetOccurredChecker: BooleanSupplier?

val rotation: Rotation2d

Gets the absolute position of the encoder as a Rotation2d.

val rotations: Double

Gets the absolute position in rotations (0.0 to 1.0).

val simState: CANcoderSimState?

stickyFault_BadMagnet

val stickyFault_BadMagnet: StatusSignal<Boolean?>?

stickyFault_BootDuringEnable

val stickyFault_BootDuringEnable: StatusSignal<Boolean?>?

stickyFault_Hardware

val stickyFault_Hardware: StatusSignal<Boolean?>?

stickyFault_Undervoltage

val stickyFault_Undervoltage: StatusSignal<Boolean?>?

stickyFault_UnlicensedFeatureInUse

val stickyFault_UnlicensedFeatureInUse: StatusSignal<Boolean?>?

stickyFaultField

val stickyFaultField: StatusSignal<Int?>?

val supplyVoltage: StatusSignal<Voltage?>?

unfilteredVelocity

val unfilteredVelocity: StatusSignal<AngularVelocity?>?

val velocity: StatusSignal<AngularVelocity?>?

val velocityDPS: Double

Gets the velocity in degrees per second.

val velocityRadPS: Double

Gets the velocity in radians per second.

val velocityRPS: Double

Gets the velocity in rotations per second.

val version: StatusSignal<Int?>?

val versionBugfix: StatusSignal<Int?>?

val versionBuild: StatusSignal<Int?>?

val versionMajor: StatusSignal<Int?>?

val versionMinor: StatusSignal<Int?>?

Functions

calibrateToCurrentPosition

fun calibrateToCurrentPosition()

Sets the magnet offset to the current position.

clearStickyFault_BadMagnet

fun clearStickyFault_BadMagnet(): StatusCode?

fun clearStickyFault_BadMagnet(timeoutSeconds: Double): StatusCode?

clearStickyFault_BootDuringEnable

fun clearStickyFault_BootDuringEnable(): StatusCode?

fun clearStickyFault_BootDuringEnable(timeoutSeconds: Double): StatusCode?

clearStickyFault_Hardware

fun clearStickyFault_Hardware(): StatusCode?

fun clearStickyFault_Hardware(timeoutSeconds: Double): StatusCode?

clearStickyFault_Undervoltage

fun clearStickyFault_Undervoltage(): StatusCode?

fun clearStickyFault_Undervoltage(timeoutSeconds: Double): StatusCode?

clearStickyFault_UnlicensedFeatureInUse

fun clearStickyFault_UnlicensedFeatureInUse(): StatusCode?

fun clearStickyFault_UnlicensedFeatureInUse(timeoutSeconds: Double): StatusCode?

clearStickyFaults

fun clearStickyFaults(): StatusCode?

fun clearStickyFaults(timeoutSeconds: Double): StatusCode?

open fun close()

fun configure(block: CANcoderConfiguration.() -> Unit = {})

Configures the CANcoder using a DSL-style configuration block.

configureSwerve

fun configureSwerve(offset: Rotation2d = Rotation2d(), clockwisePositive: Boolean = false)

Configures the encoder for swerve module use with common settings.

configureSwerve

fun Engu.configureSwerve(block: SwerveEncoderConfig.() -> Unit): Engu

Extension to configure an existing Engu for swerve use with a DSL.

fun Engu.getAngleError(target: Rotation2d): Rotation2d

Extension to get the angle error between current position and target.

hasResetOccurred

fun hasResetOccurred(): Boolean

open fun initSendable(builder: SendableBuilder?)

fun Engu.isAtAngle(target: Rotation2d, tolerance: Angle = Units.Degrees.of(2.0)): Boolean

Extension to check if encoder is within tolerance of target angle.

optimizeBusUtilization

fun optimizeBusUtilization(): StatusCode?

fun optimizeBusUtilization(optimizedFreq: Frequency?): StatusCode?

fun optimizeBusUtilization(optimizedFreqHz: Double): StatusCode?

fun optimizeBusUtilization(optimizedFreq: Frequency?, timeoutSeconds: Double): StatusCode?

fun optimizeBusUtilization(optimizedFreqHz: Double, timeoutSeconds: Double): StatusCode?

resetSignalFrequencies

fun resetSignalFrequencies(): StatusCode?

fun resetSignalFrequencies(timeoutSeconds: Double): StatusCode?

fun setControl(request: ControlRequest?): StatusCode?

fun setOffset(offset: Rotation2d)

Sets a specific offset in various units.

setOffsetDegrees

fun setOffsetDegrees(degrees: Double)

Sets a specific offset in degrees.

setOffsetRotations

fun setOffsetRotations(rotations: Double)

Sets a specific offset in rotations.

fun setPosition(newValue: Angle?): StatusCode?

fun setPosition(newValue: Double): StatusCode?

fun setPosition(newValue: Angle?, timeoutSeconds: Double): StatusCode?

fun setPosition(newValue: Double, timeoutSeconds: Double): StatusCode?

shortestDistanceTo

fun Engu.shortestDistanceTo(target: Rotation2d): Double

Extension to get the shortest angular distance to target.

fun Engu.toDebugString(): String

Extension to log encoder information to a string.