Package com.ctre.phoenix.sensors

Class CANCoderConfiguration

java.lang.Object
com.ctre.phoenix.CustomParamConfiguration
com.ctre.phoenix.sensors.CANCoderConfiguration
@Deprecated(since="2024",
            forRemoval=true)
public class CANCoderConfiguration
extends CustomParamConfiguration
Deprecated, for removal: This API element is subject to removal in a future version.
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.

Configurables available to CANCoder

  • Field Summary

    Fields 
    Modifier and Type Field Description
    AbsoluteSensorRange absoluteSensorRange
    Deprecated, for removal: This API element is subject to removal in a future version.
    Desired Sign / Range for the absolute position register.
    SensorInitializationStrategy initializationStrategy
    Deprecated, for removal: This API element is subject to removal in a future version.
    The sensor initialization strategy to use.This will impact the behavior the next time CANCoder boots up.
    double magnetOffsetDegrees
    Deprecated, for removal: This API element is subject to removal in a future version.
    Adjusts the zero point for the absolute position register.
    double sensorCoefficient
    Deprecated, for removal: This API element is subject to removal in a future version.
    Scalar to multiply the CANCoder's native 12-bit resolute sensor.
    boolean sensorDirection
    Deprecated, for removal: This API element is subject to removal in a future version.
    Choose which direction is interpreted as positive displacement.
    SensorTimeBase sensorTimeBase
    Deprecated, for removal: This API element is subject to removal in a future version.
    Desired denominator to report velocity in.
    String unitString
    Deprecated, for removal: This API element is subject to removal in a future version.
    String holding the unit to report in.
    SensorVelocityMeasPeriod velocityMeasurementPeriod
    Deprecated, for removal: This API element is subject to removal in a future version.
    Velocity measurement period to use
    int velocityMeasurementWindow
    Deprecated, for removal: This API element is subject to removal in a future version.
    Velocity measurement window to use

    Fields inherited from class com.ctre.phoenix.CustomParamConfiguration

    customParam0, customParam1, enableOptimizations

  • Constructor Summary

    Constructors 
    Constructor Description
    CANCoderConfiguration()
    Deprecated, for removal: This API element is subject to removal in a future version.
     

  • Method Summary

    Modifier and Type Method Description
    String toString()
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String toString​(String prependString)
    Deprecated, for removal: This API element is subject to removal in a future version.
     

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • velocityMeasurementPeriod

      public SensorVelocityMeasPeriod velocityMeasurementPeriod
      Deprecated, for removal: This API element is subject to removal in a future version.
      Velocity measurement period to use

    • velocityMeasurementWindow

      public int velocityMeasurementWindow
      Deprecated, for removal: This API element is subject to removal in a future version.
      Velocity measurement window to use

    • absoluteSensorRange

      public AbsoluteSensorRange absoluteSensorRange
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

    • magnetOffsetDegrees

      public double magnetOffsetDegrees
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

    • sensorDirection

      public boolean sensorDirection
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

    • initializationStrategy

      public SensorInitializationStrategy initializationStrategy
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

    • sensorCoefficient

      public double sensorCoefficient
      Deprecated, for removal: This API element is subject to removal in a future version.
      Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.

    • unitString

      public String unitString
      Deprecated, for removal: This API element is subject to removal in a future version.
      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

      public SensorTimeBase sensorTimeBase
      Deprecated, for removal: This API element is subject to removal in a future version.
      Desired denominator to report velocity in. This impacts GetVelocityand the reported velocity in self-test in Tuner. Default is "Per Second".

  • Constructor Details

  • Method Details