Class Canandmag.Settings
java.lang.Object
com.reduxrobotics.canand.CanandSettings
com.reduxrobotics.sensors.canandmag.Canandmag.Settings
- Enclosing class:
- Canandmag
The settings class for the
Canandmag
.
This class holds settings values that can be used to reconfigure Canandmag via
Canandmag.setSettings(com.reduxrobotics.sensors.canandmag.Canandmag.Settings, double, int)
.
Additionally, objects of this class are returned from Canandmag.getSettings(double, double, int)
and
Canandmag.getSettingsAsync()
which can be used to read the devices's settings.
// Object initialization Canandmag enc = new Canandmag(0); // ... // Only settings that are explicitly set here will be edited, so other settings // such as the status frame period will remain untouched. // For example, enc.setSettings(new Canandmag.Settings()); will be a no-op. enc.setSettings(new Canandmag.Settings() .setPositionFramePeriod(0) // disables position readings .setVelocityFramePeriod(0.020) // sets the rate of velocity measurements to every 20 ms .setInvertDirection(true) // inverts the encoder direction ); // enc.setSettings will block by default for up to 500 ms to confirm all values were set.Objects returned by the blocking
Canandmag.getSettings(double, double, int)
method, unlike v2023,
may now return null on its getters. This occurs when getSettings would've previously
returned null -- however, this allows for partial settings fetches.
To check if the settings fetch succeeded, one can use CanandSettings.allSettingsReceived()
to check
all fields are populated.
Example blocking fetch:
// Object initialization Canandmag canandmag = new Canandmag(0); // ... // the actual fetch itself Canandmag.Settings stg = canandmag.getSettings(0.5); // wait up to 500 ms if (stg.allSettingsReceived()) { // print the status frame period (1000 ms/1 second by default) System.out.printf("status frame period: %d\n", stg.getStatusFramePeriod()); }
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Field Summary
Fields inherited from class com.reduxrobotics.canand.CanandSettings
ephemeral, values
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Constructor Summary
ConstructorsConstructorDescriptionSettings()
Instantiates a newCanandmag.Settings
object that is "completely blank" -- holding no settings values at all.Settings
(Canandmag.Settings toCopy) Instantiates a newCanandmag.Settings
object that copies its settings from the input instance. -
Method Summary
Modifier and TypeMethodDescriptionprotected byte[]
Gets the list of settings addresses this settings class records.Gets whether or not the sensor should disallow zeroing and factory resets from the onboard button (0 for allow, 1 for disallow, -1 for unset).Gets whether or not the encoder has an inverted direction (false for no, true for yes, null for unset).Gets the position frame period in seconds [0..65.535], or null if the value has not been set on this object.Gets the status frame period in seconds [1..65.535], or null if the value has not beeno set on this object.Gets the velocity filter width in milliseconds [0.25..63.75], or null if the value has not been set on this object.Gets the velocity frame period in seconds [0..65.535], or null if the value has not been set on this object.Gets the zero offset of the encoder.setDisableZeroButton
(boolean disable) Sets whether or not the sensor should disallow zeroing and factory resets from the onboard button.setInvertDirection
(boolean invert) Inverts the direction read from the sensor.setPositionFramePeriod
(double period) Sets the position frame period in seconds.setStatusFramePeriod
(double period) Sets the status frame period in seconds.setVelocityFilterWidth
(double widthMs) Sets the velocity filter width in milliseconds to sample over.setVelocityFramePeriod
(double period) Sets the velocity frame period in seconds.setZeroOffset
(double offset) Sets the zero offset of the encoder directly, rather than adjusting the zero offset relative to the currently read position.Methods inherited from class com.reduxrobotics.canand.CanandSettings
allSettingsReceived, checkBounds, getBool, getFilteredMap, getIntAsDouble, getMap, getMissingIndexes, isEmpty, setEphemeral, toString
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Constructor Details
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Settings
public Settings()Instantiates a newCanandmag.Settings
object that is "completely blank" -- holding no settings values at all. Settings are only populated into theCanandmag.Settings
object explicitly through the various setter methods -- runningcanandmag.setSetting(new Canandmag.Settings())
would not update the device at all. To reset a device back to factory defaults, useCanandmag.resetFactoryDefaults(boolean, double)
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Settings
Instantiates a newCanandmag.Settings
object that copies its settings from the input instance.- Parameters:
toCopy
- the input settings object to copy
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Method Details
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fetchSettingsAddresses
protected byte[] fetchSettingsAddresses()Description copied from class:CanandSettings
Gets the list of settings addresses this settings class records. This is typically a static list of constants from a Details class.- Specified by:
fetchSettingsAddresses
in classCanandSettings
- Returns:
- settings addresses.
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setVelocityFilterWidth
Sets the velocity filter width in milliseconds to sample over. Velocity is computed by averaging all the points in the pastwidthMs
milliseconds. By factory default, the velocity filter averages over the past 25 milliseconds.- Parameters:
widthMs
- the new number of samples to average over. Minimum accepted is 0.25 milliseconds, maximum is 63.75 ms.- Returns:
- the calling object, so these calls can be chained
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setPositionFramePeriod
Sets the position frame period in seconds. By factory default, position frames are sent every 20 milliseconds (period=0.020) If 0 is passed in, position frames will be disabled and the methodsCanandmag.getPosition()
andCanandmag.getAbsPosition()
will not return new values.- Parameters:
period
- the new period for position frames in seconds in range [0_ms, 65.535_s]- Returns:
- the calling object, so these calls can be chained
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setVelocityFramePeriod
Sets the velocity frame period in seconds. By factory default, velocity frames are sent every 20 milliseconds (period=0.020) If 0 is passed in, velocity frames will be disabled andCanandmag.getVelocity()
will not return new values.- Parameters:
period
- the new period for velocity frames in seconds in range [0_ms, 65.535_s]- Returns:
- the calling object, so these calls can be chained
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setStatusFramePeriod
Sets the status frame period in seconds. By factory default, the encoder will broadcast 1 status message per second (period=1.0).- Parameters:
period
- the new period for status frames in seconds in range [1.0_s, 65.535_s].- Returns:
- the calling object, so these calls can be chained
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setInvertDirection
Inverts the direction read from the sensor. By factory default, the sensor will read counterclockwise from its reading face as positive (invert=false).- Parameters:
invert
- whether to invert (negate) readings from the encoder- Returns:
- the calling object
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setDisableZeroButton
Sets whether or not the sensor should disallow zeroing and factory resets from the onboard button. By factory default, the sensor will allow the zero button to function when pressed (disable=false)- Parameters:
disable
- whether to disable the onboard zeroing button's functionality- Returns:
- the calling object
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setZeroOffset
Sets the zero offset of the encoder directly, rather than adjusting the zero offset relative to the currently read position.The zero offset is subtracted from the raw reading of the encoder's magnetic sensor to get the adjusted absolute position as returned by
Canandmag.getAbsPosition()
. Users are encouraged to useCanandmag.setAbsPosition(double, double, boolean)
instead.- Parameters:
offset
- the new offset in rotations [0..1)- Returns:
- the calling object
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getVelocityFilterWidth
Gets the velocity filter width in milliseconds [0.25..63.75], or null if the value has not been set on this object.- Returns:
- the velocity filter width in milliseconds [0.25..63.75], or null if the value has not been set on this object.
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getPositionFramePeriod
Gets the position frame period in seconds [0..65.535], or null if the value has not been set on this object. A value of 0 means position messages are disabled.- Returns:
- the position frame period in seconds [0..65.535], or null if the value has not been set on this object.
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getVelocityFramePeriod
Gets the velocity frame period in seconds [0..65.535], or null if the value has not been set on this object. A value of 0 means velocity messages are disabled.- Returns:
- the velocity frame period in seconds [0..65.535], or null if the value has not been set on this object.
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getStatusFramePeriod
Gets the status frame period in seconds [1..65.535], or null if the value has not beeno set on this object. A value of 0 means status messages are disabled.- Returns:
- the status frame period in seconds [1..65.535], or null if the value has not been set on this object.
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getInvertDirection
Gets whether or not the encoder has an inverted direction (false for no, true for yes, null for unset).- Returns:
- whether or not the encoder has an inverted direction (false for no, true for yes, null for unset).
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getDisableZeroButton
Gets whether or not the sensor should disallow zeroing and factory resets from the onboard button (0 for allow, 1 for disallow, -1 for unset).- Returns:
- whether or not the encoder has its onboard zero button's functionality disabled (false for allow, true for disallow, null for unset).
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getZeroOffset
Gets the zero offset of the encoder. The zero offset is subtracted from the raw reading of the encoder's magnetic sensor to get the adjusted absolute position as returned byCanandmag.getAbsPosition()
.- Returns:
- the zero offset [0..1), or null if the value has not been set on this object.
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