ctre::phoenix::sensors::WPI_CANCoder Class Reference

CTRE CANCoder. More...

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

Inheritance diagram for ctre::phoenix::sensors::WPI_CANCoder:

Public Member Functions
	WPI_CANCoder (int deviceNumber, std::string const &canbus="")
	Construtor for CANCoder. More...
	~WPI_CANCoder ()
	WPI_CANCoder ()=delete
	WPI_CANCoder (WPI_CANCoder const &)=delete
WPI_CANCoder &	operator= (WPI_CANCoder const &)=delete
void	InitSendable (wpi::SendableBuilder &builder) override
Public Member Functions inherited from ctre::phoenix::sensors::CANCoder
	CANCoder (int deviceNumber, std::string const &canbus="")
	Constructor. More...
	~CANCoder ()
double	GetPosition ()
	Gets the position of the sensor. More...
double	GetVelocity ()
	Sets the position of the sensor. More...
ErrorCode	SetPosition (double newPosition, int timeoutMs=0)
	Sets the position of the sensor. More...
ErrorCode	SetPositionToAbsolute (int timeoutMs=0)
	Sets the position of the sensor to match the magnet's "Absolute Sensor". More...
double	GetAbsolutePosition ()
	Gets the absolute position of the sensor. More...
ErrorCode	ConfigVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs=0)
	Configures the period of each velocity sample. More...
ErrorCode	ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)
	Sets the number of velocity samples used in the rolling average velocity measurement. More...
ErrorCode	ConfigAbsoluteSensorRange (ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange, int timeoutMs=0)
	Sets the signage and range of the "Absolute Position" signal. More...
ErrorCode	ConfigMagnetOffset (double offsetDegrees, int timeoutMs=0)
	Adjusts the zero point for the absolute position register. More...
ErrorCode	ConfigSensorInitializationStrategy (ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy, int timeoutMs=0)
	Pick the strategy on how to initialize the CANCoder's "Position" register. More...
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. More...
double	GetBusVoltage ()
	Gets the bus voltage seen by the device. More...
ctre::phoenix::sensors::MagnetFieldStrength	GetMagnetFieldStrength ()
	Gets the magnet's health. More...
ErrorCode	ConfigSensorDirection (bool bSensorDirection, int timeoutMs=0)
	Choose which direction is interpreted as positive displacement. More...
ErrorCode	GetLastError ()
	Call GetLastError() generated by this object. More...
std::string	GetLastUnitString ()
	Get the units for the signal retrieved in the last called get routine. More...
double	GetLastTimestamp ()
	Get the timestamp of the CAN frame retrieved in the last called get routine. More...
ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter. More...
int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter. More...
ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter. More...
double	ConfigGetParameter (ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter. More...
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. More...
ErrorCode	SetStatusFramePeriod (CANCoderStatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame. More...
int	GetStatusFramePeriod (CANCoderStatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame. More...
int	GetFirmwareVersion ()
	Gets the firmware version of the device. More...
bool	HasResetOccurred ()
	Returns true if the device has reset since last call. More...
ErrorCode	GetFaults (CANCoderFaults &toFill)
	Gets the CANCoder fault status. More...
ErrorCode	GetStickyFaults (CANCoderStickyFaults &toFill)
	Gets the CANCoder sticky fault status. More...
ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the Sticky Faults. More...
ctre::phoenix::ErrorCode	ConfigAllSettings (const CANCoderConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings. More...
ErrorCode	GetAllConfigs (CANCoderConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings. More...
ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms). More...
CANCoderSimCollection &	GetSimCollection ()
Public Member Functions inherited from ctre::phoenix::CANBusAddressable
	CANBusAddressable (int deviceNumber)
	Constructor for a CANBusAddressable device. More...
int	GetDeviceNumber ()

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix::sensors::CANCoder
static void	DestroyAllCANCoders ()
	Destructs all CANCoder objects. More...

Detailed Description

CTRE CANCoder.

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

WPI_CANCoder() [1/3]

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

Construtor for CANCoder.

Parameters

deviceNumber	CAN Device ID of the CANCoder.
canbus	Name of the CANbus; can be a CANivore device name or serial number. Pass in nothing or "rio" to use the roboRIO.

~WPI_CANCoder()

ctre::phoenix::sensors::WPI_CANCoder::~WPI_CANCoder

(

)

WPI_CANCoder() [2/3]

ctre::phoenix::sensors::WPI_CANCoder::WPI_CANCoder ( )

delete

WPI_CANCoder() [3/3]

ctre::phoenix::sensors::WPI_CANCoder::WPI_CANCoder ( WPI_CANCoder const &  )

delete

Member Function Documentation

InitSendable()

void ctre::phoenix::sensors::WPI_CANCoder::InitSendable ( wpi::SendableBuilder &  builder )

override

operator=()

WPI_CANCoder & ctre::phoenix::sensors::WPI_CANCoder::operator= ( WPI_CANCoder const &  )

delete

---

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

• ctre/phoenix/sensors/WPI_CANCoder.h