#include <ctre/phoenix/sensors/CANCoder.h>

Inheritance diagram for ctre::phoenix::sensors::CANCoder:

Public Member Functions
	CANCoder (int deviceNumber, std::string const &canbus="")
	Constructor.

	~CANCoder ()

double	GetPosition ()
	Gets the position of the sensor.

double	GetVelocity ()
	Sets the position of the sensor.

ErrorCode	SetPosition (double newPosition, int timeoutMs=0)
	Sets the position of the sensor.

ErrorCode	SetPositionToAbsolute (int timeoutMs=0)
	Sets the position of the sensor to match the magnet's "Absolute Sensor".

double	GetAbsolutePosition ()
	Gets the absolute position of the sensor.

ErrorCode	ConfigVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs=0)
	Configures the period of each velocity sample.

ErrorCode	ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)
	Sets the number of velocity samples used in the rolling average velocity measurement.

ErrorCode	ConfigAbsoluteSensorRange (ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange, int timeoutMs=0)
	Sets the signage and range of the "Absolute Position" signal.

ErrorCode	ConfigMagnetOffset (double offsetDegrees, int timeoutMs=0)
	Adjusts the zero point for the absolute position register.

ErrorCode	ConfigSensorInitializationStrategy (ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy, int timeoutMs=0)
	Pick the strategy on how to initialize the CANCoder's "Position" register.

ErrorCode	ConfigFeedbackCoefficient (double sensorCoefficient, const std::string &unitString, ctre::phoenix::sensors::SensorTimeBase sensortimeBase, int timeoutMs=0)
	Choose what units you want the API to get/set.

double	GetBusVoltage ()
	Gets the bus voltage seen by the device.

ctre::phoenix::sensors::MagnetFieldStrength	GetMagnetFieldStrength ()
	Gets the magnet's health.

ErrorCode	ConfigSensorDirection (bool bSensorDirection, int timeoutMs=0)
	Choose which direction is interpreted as positive displacement.

ErrorCode	GetLastError ()
	Call GetLastError() generated by this object.

std::string	GetLastUnitString ()
	Get the units for the signal retrieved in the last called get routine.

double	GetLastTimestamp ()
	Get the timestamp of the CAN frame retrieved in the last called get routine.

ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter.

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter.

ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter.

double	ConfigGetParameter (ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter.

ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)
	Gets a parameter by passing an int by reference.

ErrorCode	SetStatusFramePeriod (CANCoderStatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

int	GetStatusFramePeriod (CANCoderStatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame.

int	GetFirmwareVersion ()
	Gets the firmware version of the device.

bool	HasResetOccurred ()
	Returns true if the device has reset since last call.

ErrorCode	GetFaults (CANCoderFaults &toFill)
	Gets the CANCoder fault status.

ErrorCode	GetStickyFaults (CANCoderStickyFaults &toFill)
	Gets the CANCoder sticky fault status.

ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the Sticky Faults.

ctre::phoenix::ErrorCode	ConfigAllSettings (const CANCoderConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings.

ErrorCode	GetAllConfigs (CANCoderConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings.

ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).

CANCoderSimCollection &	GetSimCollection ()

Public Member Functions inherited from ctre::phoenix::CANBusAddressable
	CANBusAddressable (int deviceNumber)
	Constructor for a CANBusAddressable device.

int	GetDeviceNumber ()

Static Public Member Functions
static void	DestroyAllCANCoders ()
	Destructs all CANCoder objects.

Detailed Description

CTRE CANCoder.



// Example usage of a CANCoder

CANCoder cancoder{0}; // creates a new CANCoder with ID 0



CANCoderConfiguration config;

// set units of the CANCoder to radians, with velocity being radians per second

config.sensorCoefficient = 2 * M_PI / 4096.0;

config.unitString = "rad";

config.sensorTimeBase = SensorTimeBase::PerSecond;

cancoder.ConfigAllSettings(config);



std::cout << cancoder.GetPosition() << std::endl; // prints the position of the CANCoder

std::cout << cancoder.GetVelocity() << std::endl; // prints the velocity recorded by the CANCoder



ErrorCode error = cancoder.GetLastError(); // gets the last error generated by the CANCoder

CANCoderFaults faults;

ErrorCode faultsError = cancoder.GetFaults(faults); // fills faults with the current CANCoder faults; returns the last error generated



cancoder.SetStatusFramePeriod(CANCoderStatusFrame_SensorData, 10); // changes the period of the sensor data frame to 10ms

Deprecated: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Constructor & Destructor Documentation

◆ CANCoder()

ctre::phoenix::sensors::CANCoder::CANCoder	(	int	deviceNumber,
		std::string const &	canbus = "" )

Constructor.

Parameters

deviceNumber	The CAN Device ID of the CANCoder.
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

◆ ~CANCoder()

ctre::phoenix::sensors::CANCoder::~CANCoder ( )

Member Function Documentation

◆ ClearStickyFaults()

ErrorCode ctre::phoenix::sensors::CANCoder::ClearStickyFaults ( int timeoutMs = 0 )

Clears the Sticky Faults.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigAbsoluteSensorRange()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigAbsoluteSensorRange	(	ctre::phoenix::sensors::AbsoluteSensorRange	absoluteSensorRange,
		int	timeoutMs = 0 )

Sets the signage and range of the "Absolute Position" signal.

Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...

Parameters

absoluteSensorRange	Desired Sign/Range for the absolute position register.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigAllSettings()

ctre::phoenix::ErrorCode ctre::phoenix::sensors::CANCoder::ConfigAllSettings	(	const CANCoderConfiguration &	allConfigs,
		int	timeoutMs = 50 )

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigFactoryDefault()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigFactoryDefault ( int timeoutMs = 50 )

Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigFeedbackCoefficient()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigFeedbackCoefficient	(	double	sensorCoefficient,
		const std::string &	unitString,
		ctre::phoenix::sensors::SensorTimeBase	sensortimeBase,
		int	timeoutMs = 0 )

Choose what units you want the API to get/set.

This also impacts the units displayed in Self-Test in Tuner. Depending on your mechanism, you may want to scale rotational units (deg, radians, rotations), or scale to a distance (inches, centimeters).

Parameters

sensorCoefficient	Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.
unitString	String holding the unit to report in. This impacts all routines (except for ConfigMagnetOffset) and the self-test in Tuner. The string value itself is arbitrary. The max number of letters will depend on firmware versioning, but generally CANCoder supports up to eight letters. However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit. Default is "deg"
sensortimeBase	Desired denominator to report velocity in. This impacts GetVelocity and the reported velocity in self-test in Tuner. Default is "Per Second".
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigGetCustomParam()

int ctre::phoenix::sensors::CANCoder::ConfigGetCustomParam	(	int	paramIndex,
		int	timeoutMs = 0 )

Gets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of the custom param.

◆ ConfigGetParameter() [1/2]

double ctre::phoenix::sensors::CANCoder::ConfigGetParameter	(	ParamEnum	param,
		int	ordinal,
		int	timeoutMs = 0 )

Gets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of parameter.

◆ ConfigGetParameter() [2/2]

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigGetParameter	(	ParamEnum	param,
		int32_t	valueToSend,
		int32_t &	valueReceived,
		uint8_t &	subValue,
		int32_t	ordinal,
		int32_t	timeoutMs )

Gets a parameter by passing an int by reference.

Parameters

param	Parameter enumeration
valueToSend	Value to send to parameter
valueReceived	Reference to integer to receive
subValue	SubValue of parameter
ordinal	Ordinal of parameter
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigMagnetOffset()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigMagnetOffset	(	double	offsetDegrees,
		int	timeoutMs = 0 )

Adjusts the zero point for the absolute position register.

The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

Parameters

offsetDegrees	Offset in degrees (unit string and coefficient DO NOT apply for this config).
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSensorDirection()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigSensorDirection	(	bool	bSensorDirection,
		int	timeoutMs = 0 )

Choose which direction is interpreted as positive displacement.

This affects both "Position" and "Absolute Position".

Parameters

bSensorDirection	False (default) means positive rotation occurs when magnet is spun counter-clockwise when observer is facing the LED side of CANCoder.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSensorInitializationStrategy()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigSensorInitializationStrategy	(	ctre::phoenix::sensors::SensorInitializationStrategy	initializationStrategy,
		int	timeoutMs = 0 )

Pick the strategy on how to initialize the CANCoder's "Position" register.

Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.

Parameters

initializationStrategy	The sensor initialization strategy to use. This will impact the behavior the next time CANCoder boots up.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetCustomParam()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs = 0 )

Sets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetParameter()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigSetParameter	(	ParamEnum	param,
		double	value,
		uint8_t	subValue,
		int	ordinal,
		int	timeoutMs = 0 )

Sets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigVelocityMeasurementPeriod()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigVelocityMeasurementPeriod	(	SensorVelocityMeasPeriod	period,
		int	timeoutMs = 0 )

Configures the period of each velocity sample.

Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period	Desired period for the velocity measurement.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigVelocityMeasurementWindow()

ErrorCode ctre::phoenix::sensors::CANCoder::ConfigVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs = 0 )

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ DestroyAllCANCoders()

static void ctre::phoenix::sensors::CANCoder::DestroyAllCANCoders ( )

static

Destructs all CANCoder objects.

◆ GetAbsolutePosition()

double ctre::phoenix::sensors::CANCoder::GetAbsolutePosition ( )

Gets the absolute position of the sensor.

The absolute position may be unsigned (for example: [0,360) deg), or signed (for example: [-180,+180) deg). This is determined by a configuration. The default selection is unsigned. The units are determined by the coefficient and unit-string configuration params, default is degrees. Note: this signal is not affected by calls to SetPosition().

Returns: The position of the sensor.

◆ GetAllConfigs()

ErrorCode ctre::phoenix::sensors::CANCoder::GetAllConfigs	(	CANCoderConfiguration &	allConfigs,
		int	timeoutMs = 50 )

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ GetBusVoltage()

double ctre::phoenix::sensors::CANCoder::GetBusVoltage ( )

Gets the bus voltage seen by the device.

Returns: The bus voltage value (in volts).

◆ GetFaults()

ErrorCode ctre::phoenix::sensors::CANCoder::GetFaults ( CANCoderFaults & toFill )

Gets the CANCoder fault status.

Parameters

toFill Container for fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ GetFirmwareVersion()

int ctre::phoenix::sensors::CANCoder::GetFirmwareVersion ( )

Gets the firmware version of the device.

Returns: Firmware version of device.

◆ GetLastError()

ErrorCode ctre::phoenix::sensors::CANCoder::GetLastError ( )

Call GetLastError() generated by this object.

Not all functions return an error code but can potentially report errors.

This function can be used to retrieve those error codes.

Returns: The last ErrorCode generated.

◆ GetLastTimestamp()

double ctre::phoenix::sensors::CANCoder::GetLastTimestamp ( )

Get the timestamp of the CAN frame retrieved in the last called get routine.

◆ GetLastUnitString()

std::string ctre::phoenix::sensors::CANCoder::GetLastUnitString ( )

Get the units for the signal retrieved in the last called get routine.

◆ GetMagnetFieldStrength()

ctre::phoenix::sensors::MagnetFieldStrength ctre::phoenix::sensors::CANCoder::GetMagnetFieldStrength ( )

Gets the magnet's health.

Returns: The magnet health code (red/orange/green).

◆ GetPosition()

double ctre::phoenix::sensors::CANCoder::GetPosition ( )

Gets the position of the sensor.

This may be relative or absolute depending on configuration. The units are determined by the coefficient and unit-string configuration params, default is degrees.

Returns: The position of the sensor.

◆ GetSimCollection()

CANCoderSimCollection & ctre::phoenix::sensors::CANCoder::GetSimCollection ( )

Returns: object that can set simulation inputs.

◆ GetStatusFramePeriod()

int ctre::phoenix::sensors::CANCoder::GetStatusFramePeriod	(	CANCoderStatusFrame	frame,
		int	timeoutMs = 0 )

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

◆ GetStickyFaults()

ErrorCode ctre::phoenix::sensors::CANCoder::GetStickyFaults ( CANCoderStickyFaults & toFill )

Gets the CANCoder sticky fault status.

Parameters

toFill Container for sticky fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ GetVelocity()

double ctre::phoenix::sensors::CANCoder::GetVelocity ( )

Sets the position of the sensor.

The units are determined by the coefficient and unit-string configuration params, default is degrees.

Parameters

newPosition

Returns: ErrorCode generated by function. 0 indicates no error.

◆ HasResetOccurred()

bool ctre::phoenix::sensors::CANCoder::HasResetOccurred ( )

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

◆ SetPosition()

ErrorCode ctre::phoenix::sensors::CANCoder::SetPosition	(	double	newPosition,
		int	timeoutMs = 0 )

Sets the position of the sensor.

The units are determined by the coefficient and unit-string configuration params, default is degrees.

Parameters

newPosition

Returns: ErrorCode generated by function. 0 indicates no error.

◆ SetPositionToAbsolute()

ErrorCode ctre::phoenix::sensors::CANCoder::SetPositionToAbsolute ( int timeoutMs = 0 )

Sets the position of the sensor to match the magnet's "Absolute Sensor".

The units are determined by the coefficient and unit-string configuration params, default is degrees.

Returns: ErrorCode generated by function. 0 indicates no error.

◆ SetStatusFramePeriod()

ErrorCode ctre::phoenix::sensors::CANCoder::SetStatusFramePeriod	(	CANCoderStatusFrame	statusFrame,
		uint8_t	periodMs,
		int	timeoutMs = 0 )

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

The documentation for this class was generated from the following file:

ctre/phoenix/sensors/CANCoder.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CANCoder()

◆ ~CANCoder()

Member Function Documentation

◆ ClearStickyFaults()

◆ ConfigAbsoluteSensorRange()

◆ ConfigAllSettings()

◆ ConfigFactoryDefault()

◆ ConfigFeedbackCoefficient()

◆ ConfigGetCustomParam()

◆ ConfigGetParameter() [1/2]

◆ ConfigGetParameter() [2/2]

◆ ConfigMagnetOffset()

◆ ConfigSensorDirection()

◆ ConfigSensorInitializationStrategy()

◆ ConfigSetCustomParam()

◆ ConfigSetParameter()

◆ ConfigVelocityMeasurementPeriod()

◆ ConfigVelocityMeasurementWindow()

◆ DestroyAllCANCoders()

◆ GetAbsolutePosition()

◆ GetAllConfigs()

◆ GetBusVoltage()

◆ GetFaults()

◆ GetFirmwareVersion()

◆ GetLastError()

◆ GetLastTimestamp()

◆ GetLastUnitString()

◆ GetMagnetFieldStrength()

◆ GetPosition()

◆ GetSimCollection()

◆ GetStatusFramePeriod()

◆ GetStickyFaults()

◆ GetVelocity()

◆ HasResetOccurred()

◆ SetPosition()

◆ SetPositionToAbsolute()

◆ SetStatusFramePeriod()