Trouble with spark max encoder

Technical Programming
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#1

our team uses victor spx motor controllers and during comp we used one borrowed talon so we could use an encoder, we decided to use one of our 2 sample spark maxes we have saved to replace the talon and used the same vex mag encoder with the CTRE encoder housing. i copied all the robot.java code from the example code for an alternate encoder given here by rev, but when it comes to implementing the encoder data into our arm’s limit i keep getting the fatal problem

Type mismatch: cannot convert from RelativeEncoder to double on
return m_motor.getAlternateEncoder(4096)

(line 48 of thiscode)

i have tried everything i know to try and cannot find anyone else who has this issue. any help is appreciated.

#2

You have to initiate the encoder object RelativeEncoder, we do it in the constructor. Currently, you are comparing the encoder object to a double causing the error. In your getter, you should be returning a double to compare against, using getPosition() or getVelocity().

RelativeEncoder m_encoder;
public arm() {
m_encoder = m_motor.getAlternateEncoder(4096);
}

private double getAlternateEncoderPosition() {
return m_encoder.getPosition();
}
1 Like
#3

In moveArm, where you call getArmEncoder(), you probably want something like getArmEncoder().getPosition().

#4

what file/class would i need to put

RelativeEncoder m_encoder;
public arm() {
m_encoder = m_motor.getAlternateEncoder(4096);
}

in

#5

so like this

public double getArmEncoder() {
    return m_motor.getAlternateEncoder(4096).getPosition();
}