Package com.ctre.phoenix.sensors
Class CANCoderSimCollection
java.lang.Object
com.ctre.phoenix.sensors.CANCoderSimCollection
Deprecated, for removal: This API element is subject to removal in a future version.
Collection of simulation commands available to a CANCoder.
Use the getSimCollection() routine inside your CANCoder to create the respective sim collection.
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Constructor Summary
ConstructorsConstructorDescriptionCANCoderSimCollection
(CANCoder canCoder) Deprecated, for removal: This API element is subject to removal in a future version.Constructor for CANCoderSimCollection -
Method Summary
Modifier and TypeMethodDescriptionaddPosition
(int dPos) Deprecated, for removal: This API element is subject to removal in a future version.Adds to the simulated position of the CANCoder.setBusVoltage
(double vbat) Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated bus voltage of the CANCoder.setRawPosition
(int newPos) Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated raw position of the CANCoder.setVelocity
(int newVel) Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated velocity of the CANCoder.
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Constructor Details
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CANCoderSimCollection
Deprecated, for removal: This API element is subject to removal in a future version.Constructor for CANCoderSimCollection- Parameters:
canCoder
- CANCoder to connect Collection to
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Method Details
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setBusVoltage
Deprecated, for removal: This API element is subject to removal in a future version.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
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setRawPosition
Deprecated, for removal: This API element is subject to removal in a future version.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
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addPosition
Deprecated, for removal: This API element is subject to removal in a future version.Adds to the simulated position of the CANCoder.- Parameters:
dPos
- the change in position in native units- Returns:
- error code
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setVelocity
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated velocity of the CANCoder.- Parameters:
newVel
- the new velocity in native units per 100ms- Returns:
- error code
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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.