Configurables available to CANCoder. More...
#include <ctre/phoenix/sensors/CANCoder.h>
Public Member Functions | |
| CANCoderConfiguration () | |
| Constructor. More... | |
| std::string | toString () |
| std::string | toString (std::string prependString) |
 Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration | |
| CustomParamConfiguration () | |
| std::string | toString () |
| std::string | toString (std::string prependString) |
Public Attributes | |
| SensorVelocityMeasPeriod | velocityMeasurementPeriod = SensorVelocityMeasPeriod::Period_100Ms |
| Velocity measurement period to use. More... | |
| int | velocityMeasurementWindow = 64 |
| Velocity measurement window to use. More... | |
| ctre::phoenix::sensors::AbsoluteSensorRange | absoluteSensorRange = AbsoluteSensorRange::Unsigned_0_to_360 |
| Desired Sign / Range for the absolute position register. More... | |
| double | magnetOffsetDegrees = 0 |
| Adjusts the zero point for the absolute position register. More... | |
| bool | sensorDirection = false |
| Choose which direction is interpreted as positive displacement. More... | |
| ctre::phoenix::sensors::SensorInitializationStrategy | initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero |
| The sensor initialization strategy to use.This will impact the behavior the next time CANCoder boots up. More... | |
| double | sensorCoefficient = 360.0 / 4096.0 |
| Scalar to multiply the CANCoder's native 12-bit resolute sensor. More... | |
| std::string | unitString = "deg" |
| String holding the unit to report in. More... | |
| ctre::phoenix::sensors::SensorTimeBase | sensorTimeBase = ctre::phoenix::sensors::SensorTimeBase::PerSecond |
| Desired denominator to report velocity in. More... | |
| Public Attributes inherited from ctre::phoenix::CustomParamConfiguration | |
| int | customParam0 |
| Custom Param 0. More... | |
| int | customParam1 |
| Custom Param 1. More... | |
| bool | enableOptimizations |
| Enable optimizations for ConfigAll (defaults true) More... | |
Detailed Description
Configurables available to 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
◆ CANCoderConfiguration()
|
inline |
Constructor.
Member Function Documentation
◆ toString() [1/2]
|
inline |
- Returns
- String representation of configs
◆ toString() [2/2]
|
inline |
- Parameters
-
prependString String to prepend to configs
- Returns
- String representation of configs
Member Data Documentation
◆ absoluteSensorRange
| ctre::phoenix::sensors::AbsoluteSensorRange ctre::phoenix::sensors::CANCoderConfiguration::absoluteSensorRange = AbsoluteSensorRange::Unsigned_0_to_360 |
Desired Sign / Range for the absolute position register.
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.
◆ initializationStrategy
| ctre::phoenix::sensors::SensorInitializationStrategy ctre::phoenix::sensors::CANCoderConfiguration::initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero |
The sensor initialization strategy to use.This will impact the behavior the next time CANCoder boots up.
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.
◆ magnetOffsetDegrees
| double ctre::phoenix::sensors::CANCoderConfiguration::magnetOffsetDegrees = 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.
◆ sensorCoefficient
| double ctre::phoenix::sensors::CANCoderConfiguration::sensorCoefficient = 360.0 / 4096.0 |
Scalar to multiply the CANCoder's native 12-bit resolute sensor.
Defaults to 0.087890625 to produce degrees.
◆ sensorDirection
| bool ctre::phoenix::sensors::CANCoderConfiguration::sensorDirection = false |
Choose which direction is interpreted as positive displacement.
This affects both "Position"and "Absolute Position". False(default) means positive rotation occurs when magnet is spun counter - clockwise when observer is facing the LED side of CANCoder.
◆ sensorTimeBase
| ctre::phoenix::sensors::SensorTimeBase ctre::phoenix::sensors::CANCoderConfiguration::sensorTimeBase = ctre::phoenix::sensors::SensorTimeBase::PerSecond |
Desired denominator to report velocity in.
This impacts GetVelocityand the reported velocity in self-test in Tuner. Default is "Per Second".
◆ unitString
| std::string ctre::phoenix::sensors::CANCoderConfiguration::unitString = "deg" |
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"
◆ velocityMeasurementPeriod
| SensorVelocityMeasPeriod ctre::phoenix::sensors::CANCoderConfiguration::velocityMeasurementPeriod = SensorVelocityMeasPeriod::Period_100Ms |
Velocity measurement period to use.
◆ velocityMeasurementWindow
| int ctre::phoenix::sensors::CANCoderConfiguration::velocityMeasurementWindow = 64 |
Velocity measurement window to use.
The documentation for this struct was generated from the following file:
- ctre/phoenix/sensors/CANCoder.h
