ctre::phoenix::sensors::CANCoderSimCollection Class Reference

Collection of simulation functions available to a CANCoder. More...

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

Public Member Functions
	CANCoderSimCollection (ctre::phoenix::sensors::CANCoder &canCoder)
	Constructor for CANCoderSimCollection. More...
ErrorCode	SetBusVoltage (double vbat)
	Sets the simulated bus voltage of the CANCoder. More...
ErrorCode	SetRawPosition (int newPos)
	Sets the simulated raw position of the CANCoder. More...
ErrorCode	AddPosition (int dPos)
	Adds to the simulated position of the CANCoder. More...
ErrorCode	SetVelocity (int newVel)
	Sets the simulated velocity of the CANCoder. More...

Detailed Description

Collection of simulation functions available to a CANCoder.

Use the getSimCollection() function in your CANCoder object to create the respective sim collection.

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

CANCoderSimCollection()

ctre::phoenix::sensors::CANCoderSimCollection::CANCoderSimCollection

(

ctre::phoenix::sensors::CANCoder &

canCoder

)

Constructor for CANCoderSimCollection.

Parameters

canCoder

CANCoder to connect Collection to

Member Function Documentation

AddPosition()

ErrorCode ctre::phoenix::sensors::CANCoderSimCollection::AddPosition

(

int

dPos

)

Adds to the simulated position of the CANCoder.

Parameters

dPos	the change in position in native units

Returns

error code

SetBusVoltage()

ErrorCode ctre::phoenix::sensors::CANCoderSimCollection::SetBusVoltage

(

double

vbat

)

Sets the simulated bus voltage of the CANCoder.

The minimum allowed bus voltage is 4 V - values below this will be promoted to 4 V.

Parameters

vbat	the bus voltage in volts

Returns

error code

SetRawPosition()

ErrorCode ctre::phoenix::sensors::CANCoderSimCollection::SetRawPosition

(

int

newPos

)

Sets the simulated raw position of the CANCoder.

The CANCoder integrates this to calculate the true reported position.

When using the WPI Sim GUI, you will notice a readonly 'position' and settable 'rawPositionInput'. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to 'rawPositionInput' will be integrated into the emulated position. This way a simulator can modify the position without overriding your hardware API calls for home-ing your sensor.

Inputs to this function over time should be continuous, as user calls of setPosition() will be accounted for in the calculation.

Parameters

newPos

the new raw position in native units

Returns

error code

SetVelocity()

ErrorCode ctre::phoenix::sensors::CANCoderSimCollection::SetVelocity

(

int

newVel

)

Sets the simulated velocity of the CANCoder.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

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

• ctre/phoenix/sensors/CANCoderSimCollection.h