Package com.ctre.phoenix.sensors

Class WPI_CANCoder

java.lang.Object

com.ctre.phoenix.sensors.CANCoder

com.ctre.phoenix.sensors.WPI_CANCoder

All Implemented Interfaces:

Sendable, AutoCloseable

@Deprecated(since="2024",
            forRemoval=true)
public class WPI_CANCoder
extends CANCoder
implements Sendable, AutoCloseable

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.

CTRE CANCoder.

Constructor Summary

Constructors

Constructor	Description
WPI_CANCoder(int deviceNumber)	Deprecated, for removal: This API element is subject to removal in a future version. Constructor for CANCoder
WPI_CANCoder(int deviceNumber, String canbus)	Deprecated, for removal: This API element is subject to removal in a future version. Constructor for CANCoder

Method Summary

Modifier and Type	Method	Description
void	close()	Deprecated, for removal: This API element is subject to removal in a future version.
void	initSendable(SendableBuilder builder)	Deprecated, for removal: This API element is subject to removal in a future version.

Methods inherited from class com.ctre.phoenix.sensors.CANCoder

clearStickyFaults, clearStickyFaults, configAbsoluteSensorRange, configAbsoluteSensorRange, configAllSettings, configAllSettings, configFactoryDefault, configFactoryDefault, configFeedbackCoefficient, configFeedbackCoefficient, configGetAbsoluteSensorRange, configGetAbsoluteSensorRange, configGetCustomParam, configGetCustomParam, configGetFeedbackCoefficient, configGetFeedbackCoefficient, configGetFeedbackTimeBase, configGetFeedbackTimeBase, configGetFeedbackUnitString, configGetFeedbackUnitString, configGetMagnetOffset, configGetMagnetOffset, configGetParameter, configGetParameter, configGetSensorDirection, configGetSensorDirection, configGetSensorInitializationStrategy, configGetSensorInitializationStrategy, configGetVelocityMeasurementPeriod, configGetVelocityMeasurementPeriod, configGetVelocityMeasurementWindow, configGetVelocityMeasurementWindow, configMagnetOffset, configMagnetOffset, configSensorDirection, configSensorDirection, configSensorInitializationStrategy, configSensorInitializationStrategy, configSetCustomParam, configSetCustomParam, configSetParameter, configSetParameter, configVelocityMeasurementPeriod, configVelocityMeasurementPeriod, configVelocityMeasurementWindow, configVelocityMeasurementWindow, DestroyObject, getAbsolutePosition, getAllConfigs, getAllConfigs, getBusVoltage, getDeviceID, getFaults, getFirmwareVersion, getLastError, getLastTimestamp, getLastUnitString, getMagnetFieldStrength, getPosition, getSimCollection, getStatusFramePeriod, getStatusFramePeriod, getStickyFaults, getVelocity, hasResetOccurred, setPosition, setPosition, setPositionToAbsolute, setPositionToAbsolute, setStatusFramePeriod, setStatusFramePeriod

Methods inherited from class java.lang.Object

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

Constructor Details

WPI_CANCoder

public WPI_CANCoder(int deviceNumber, String canbus)

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

Constructor for CANCoder

Parameters:

deviceNumber - device ID of 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

public WPI_CANCoder(int deviceNumber)

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

Constructor for CANCoder

Parameters:

deviceNumber - device ID of CANCoder

Method Details

close

public void close()

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

Specified by:

close in interface AutoCloseable

initSendable

public void initSendable(SendableBuilder builder)

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

Specified by:

initSendable in interface Sendable