Configuring a DetachedEncoder

This page discusses configuration concepts specific to DetachedEncoders, such as the MAXSpline Encoder. For more information on general configuration in REVLib, see this page.

Configuration Classes

The MAXSpine Encoder uses a common configuration class, DetachedEncoderConfig.

API Documentation

For more information about what configurations and sub-configuration classes each class provides, refer to the links below:

DetachedEncoderConfig	Java	C++

Persisting Parameters

Configuring a DetachedEncoder automatically persists the configuration settings between power cycles when calling the configure() method.

Persisting parameters involves saving them to the device's memory, which is time-intensive and blocks communication with the device.

Use Cases

It is recommended to update the majority of device parameters during the initial configuration of the device at the start of your program to ensure that the controller retains its configuration in the event of a power cycle during operation, e.g., due to a breaker trip or a brownout.

It is generally recommended not to make configuration updates mid-operation to avoid blocking the program and affecting the robot's performance.

Below is an example of either case:

Java

Robot() {
    DetachedEncoderConfig config = new DetachedEncoderConfig();
    config
        .inverted(true)
        .velocityConversionFactor(1.23)
        .positionConversionFactor(360);

    // Persist parameters and reset any not explicitly set above to
    // their defaults.
    SplineEncoder splineEncoder = new SplineEncoder(42);
    splineEncoder.configure(config, ResetMode.kResetSafeParameters);
}