Java Example

Introduction

This is a simple Java example demonstrating how to use the Vertos Encoder with the CANSense interface in an FRC robot project

Code Breakdown

1. Import the CANSense Library

   • import com.vertos.encoder.CANSense; - Allows communication with the Vertos Encoder over CAN.

2. Declare the Encoder Instance

   • private CANSense sensor1; - Creates an instance of CANSense to interact with the encoder.

3. Initialize the Encoder

   • sensor1 = new CANSense(0, false); - Instantiates the encoder with CAN ID 0 and debug mode disabled.

4. Read Encoder Data Periodically

   • sensor1.update; - Fetches the latest data from the CAN bus.

   • long position = sensor1.getSingleTurnRotations(); - Retrieves the current angle between 0 and 1.0.

5. Output Encoder Data

   • System.out.println("Encoder Position: " + position); - Prints the encoder's position to the console for monitoring.

Main.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

import com.vertos.encoder.CANSense; // Import
import com.vertos.encoder.VertosHttpServer;

public class Robot extends TimedRobot {
  private Command m_autonomousCommand;
  private final RobotContainer m_robotContainer;
  private CANSense sensor1; // CANSense encoder instance
  VertosHttpServer httpServer;

  public Robot() {
    m_robotContainer = new RobotContainer();

    // Vertos ID0 does not conflict ID0 from other vendors
    sensor1 = new CANSense(0, false); // Initialize encoder with CAN ID 0, debug mode off

    // Only needed for configuring CAN IDs
    try {
      httpServer = new VertosHttpServer(5806);
      httpServer.start();

    } catch (Exception e) {
      System.err.println("Failed to start VertosHttpServer: " + e);
    }
  }

  @Override
  public void robotPeriodic() {
    CommandScheduler.getInstance().run();

    // Read encoder data
    sensor1.update();

    // Get multi-turn counts. Resets to 0 during power down
    //double position = sensor1.getMultiTurnCounts();

    // Get multi-turn Degrees. Resets to 0 during power down
    // double position = sensor1.getMultiTurnDegrees();

    // Get angle between 0 and 1.0
    double position = sensor1.getSingleTurnRotations();

    // Print encoder position to console
    System.out.println("Encoder Position: " + position);
  }

  @Override
  public void disabledInit() {
  }

  @Override
  public void disabledPeriodic() {
  }

  @Override
  public void autonomousInit() {
    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
    if (m_autonomousCommand != null) {
      m_autonomousCommand.schedule();
    }
  }

  @Override
  public void autonomousPeriodic() {
  }

  @Override
  public void teleopInit() {
    if (m_autonomousCommand != null) {
      m_autonomousCommand.cancel();
    }
  }

  @Override
  public void teleopPeriodic() {
  }

  @Override
  public void testInit() {
    CommandScheduler.getInstance().cancelAll();
  }

  @Override
  public void testPeriodic() {
  }

  @Override
  public void simulationInit() {
  }

  @Override
  public void simulationPeriodic() {
  }
}