Encoder creation help

Technical Programming
1

I need help initlazing this encoder. or a link to the docs.

2

Are you connecting this directly to the RIO or to a SparMAX and do you want it to be relative or absolute?

Relative for RIO connection
Absolute for RIO connection

For connection directly to a SparkMAX, create a RelativeEncoder or AbsoluteEncoder and call getAlternateEncoder() or getAbsoluteEncoder on the motor controller.

3

If connected via the data port on a CAN Spark motor controller, use spark.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle):
https://codedocs.revrobotics.com/java/com/revrobotics/cansparkbase#getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type)

If connected to the RoboRio’s PWM pins, use the built in DutyCycleEncoder class:

4

thanks

5

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