Package com.ctre.phoenix6.configs

Class CANrangeConfiguration

java.lang.Object

com.ctre.phoenix6.configs.CANrangeConfiguration

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class CANrangeConfiguration
extends Object
implements ParentConfiguration

Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device. This handles the configurations for the CANrange

Field Summary

Fields

Modifier and Type	Field	Description
CustomParamsConfigs	CustomParams	Custom Params.
FovParamsConfigs	FovParams	Configs that affect the ToF Field of View
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
ProximityParamsConfigs	ProximityParams	Configs that affect the ToF Proximity detection
ToFParamsConfigs	ToFParams	Configs that affect the ToF sensor

Constructor Summary

Constructors

Constructor	Description
CANrangeConfiguration()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)	Take a string and deserialize it to this configuration
String	serialize()	Get the serialized form of this configuration
String	toString()
CANrangeConfiguration	withCustomParams(CustomParamsConfigs newCustomParams)	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
CANrangeConfiguration	withFovParams(FovParamsConfigs newFovParams)	Modifies this configuration's FovParams parameter and returns itself for method-chaining and easier to use config API.
CANrangeConfiguration	withProximityParams(ProximityParamsConfigs newProximityParams)	Modifies this configuration's ProximityParams parameter and returns itself for method-chaining and easier to use config API.
CANrangeConfiguration	withToFParams(ToFParamsConfigs newToFParams)	Modifies this configuration's ToFParams parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class java.lang.Object

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

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

CustomParams

public CustomParamsConfigs CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

ToFParams

public ToFParamsConfigs ToFParams

Configs that affect the ToF sensor

Includes Update mode and frequency

Parameter list:

• ToFParamsConfigs.UpdateMode
• ToFParamsConfigs.UpdateFrequency

ProximityParams

public ProximityParamsConfigs ProximityParams

Configs that affect the ToF Proximity detection

Includes proximity mode and the threshold for simple detection

Parameter list:

• ProximityParamsConfigs.ProximityThreshold
• ProximityParamsConfigs.ProximityHysteresis
• ProximityParamsConfigs.MinSignalStrengthForValidMeasurement

FovParams

public FovParamsConfigs FovParams

Configs that affect the ToF Field of View

Includes range and center configs

Parameter list:

• FovParamsConfigs.FOVCenterX
• FovParamsConfigs.FOVCenterY
• FovParamsConfigs.FOVRangeX
• FovParamsConfigs.FOVRangeY

Constructor Details

CANrangeConfiguration

public CANrangeConfiguration()

Method Details

withCustomParams

public CANrangeConfiguration withCustomParams(CustomParamsConfigs newCustomParams)

Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Parameters:

newCustomParams - Parameter to modify

Returns:

Itself

withToFParams

public CANrangeConfiguration withToFParams(ToFParamsConfigs newToFParams)

Modifies this configuration's ToFParams parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the ToF sensor

Includes Update mode and frequency

Parameter list:

• ToFParamsConfigs.UpdateMode
• ToFParamsConfigs.UpdateFrequency

Parameters:

newToFParams - Parameter to modify

Returns:

Itself

withProximityParams

public CANrangeConfiguration withProximityParams(ProximityParamsConfigs newProximityParams)

Modifies this configuration's ProximityParams parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the ToF Proximity detection

Includes proximity mode and the threshold for simple detection

Parameter list:

• ProximityParamsConfigs.ProximityThreshold
• ProximityParamsConfigs.ProximityHysteresis
• ProximityParamsConfigs.MinSignalStrengthForValidMeasurement

Parameters:

newProximityParams - Parameter to modify

Returns:

Itself

withFovParams

public CANrangeConfiguration withFovParams(FovParamsConfigs newFovParams)

Modifies this configuration's FovParams parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the ToF Field of View

Includes range and center configs

Parameter list:

• FovParamsConfigs.FOVCenterX
• FovParamsConfigs.FOVCenterY
• FovParamsConfigs.FOVRangeX
• FovParamsConfigs.FOVRangeY

Parameters:

newFovParams - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

serialize

public String serialize()

Get the serialized form of this configuration

Specified by:

serialize in interface ISerializable

Returns:

Serialized form of this config group

deserialize

public StatusCode deserialize(String to_deserialize)

Take a string and deserialize it to this configuration

Specified by:

deserialize in interface ParentConfiguration

Returns:

Return code of the deserialize method