vex::rotation Class Reference

Use the rotation class to control absolute encoder devices. More...

Inherits vex::device.

Public Member Functions
	rotation (int32_t index, bool reverse=false)
	Creates a new rotation object on the port specified. More...
	~rotation ()
bool	installed ()
int32_t	value ()
void	setReversed (bool value)
	Sets the encoder mode to "reverse", position and angle will change in the opposite direction. More...
double	angle (rotationUnits units=rotationUnits::deg)
	Gets the angle of the absolute encoder. More...
void	resetPosition (void)
	Resets the value of the absolute encoder to zero. More...
void	setPosition (double value, rotationUnits units)
	Sets the value of the absolute encoder to the value specified in the parameter. More...
double	position (rotationUnits units)
	Gets the current position of the absolute encoder. More...
double	velocity (velocityUnits units)
	Gets the current velocity of the absolute encoder. More...
Public Member Functions inherited from vex::device
	device ()
	device (int32_t index)
	~device ()
V5_DeviceType	type ()
void	init (int32_t index)

Protected Member Functions
int32_t	status ()

Additional Inherited Members
Protected Attributes inherited from vex::device
int32_t	_index

Detailed Description

Use the rotation class to control absolute encoder devices.

Constructor & Destructor Documentation

rotation()

vex::rotation::rotation	(	int32_t	index,
		bool	reverse = false
	)

Creates a new rotation object on the port specified.

Parameters

index	The port index for this rotation sensor. The index is zero-based.
reverse	If set to true, the encoder counts in reverse

~rotation()

vex::rotation::~rotation

(

)

Member Function Documentation

installed()

bool vex::rotation::installed ( )

virtual

Reimplemented from vex::device.

value()

int32_t vex::rotation::value ( )

virtual

Reimplemented from vex::device.

setReversed()

void vex::rotation::setReversed

(

bool

value

)

Sets the encoder mode to "reverse", position and angle will change in the opposite direction.

Parameters

value

If set to true, the encoder counts in reverse

angle()

double vex::rotation::angle

(

rotationUnits

units = rotationUnits::deg

)

Gets the angle of the absolute encoder.

Parameters

units

The measurement unit for the encoder device.

Returns

a double that represents the unit value specified by the parameter of the encoder sensor.

resetPosition()

void vex::rotation::resetPosition

(

void

)

Resets the value of the absolute encoder to zero.

setPosition()

void vex::rotation::setPosition	(	double	value,
		rotationUnits	units
	)

Sets the value of the absolute encoder to the value specified in the parameter.

Parameters

value	Sets the current position of the absolute encoder.
units	The measurement unit for the position value.

position()

double vex::rotation::position

(

rotationUnits

units

)

Gets the current position of the absolute encoder.

Parameters

units

The measurement unit for the position.

Returns

a double that represents the current position of the encoder in the units defined in the parameter.

velocity()

double vex::rotation::velocity

(

velocityUnits

units

)

Gets the current velocity of the absolute encoder.

Parameters

units

The measurement unit for the velocity.

Returns

a double that represents the current velocity of the encoder in the units defined in the parameter.

status()

int32_t vex::rotation::status ( )

protected