ctre::phoenix6::configs::CANcoderConfiguration Class Reference

Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along with filtered velocity. More...

#include <ctre/phoenix6/core/CoreCANcoder.hpp>

Inheritance diagram for ctre::phoenix6::configs::CANcoderConfiguration:

Public Member Functions
constexpr	CANcoderConfiguration ()=default
constexpr CANcoderConfiguration &	WithMagnetSensor (MagnetSensorConfigs newMagnetSensor)
	Modifies this configuration's MagnetSensor parameter and returns itself for method-chaining and easier to use config API.
constexpr CANcoderConfiguration &	WithCustomParams (CustomParamsConfigs newCustomParams)
	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
std::string	ToString () const
	Get the string representation of this configuration.
std::string	Serialize () const
	Get the serialized form of this configuration.
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize)
	Take a string and deserialize it to this configuration.

Public Attributes
bool	FutureProofConfigs {true}
	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
MagnetSensorConfigs	MagnetSensor
	Configs that affect the magnet sensor and how to interpret it.
CustomParamsConfigs	CustomParams
	Custom Params.

Detailed Description

Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along with filtered velocity.

This handles the configurations for the hardware::CANcoder

Constructor & Destructor Documentation

CANcoderConfiguration()

constexpr ctre::phoenix6::configs::CANcoderConfiguration::CANcoderConfiguration ( )

constexprdefault

Member Function Documentation

Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfiguration::Deserialize ( const std::string & to_deserialize )

inlinevirtual

Take a string and deserialize it to this configuration.

Implements ctre::phoenix6::configs::ParentConfiguration.

Serialize()

std::string ctre::phoenix6::configs::CANcoderConfiguration::Serialize ( ) const

inlinevirtual

Get the serialized form of this configuration.

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::configs::CANcoderConfiguration::ToString ( ) const

inlinevirtual

Get the string representation of this configuration.

Implements ctre::phoenix6::configs::ParentConfiguration.

WithCustomParams()

constexpr CANcoderConfiguration & ctre::phoenix6::configs::CANcoderConfiguration::WithCustomParams ( CustomParamsConfigs newCustomParams )

inlineconstexpr

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.

Parameters

newCustomParams

Parameter to modify

Returns

Itself

WithMagnetSensor()

constexpr CANcoderConfiguration & ctre::phoenix6::configs::CANcoderConfiguration::WithMagnetSensor ( MagnetSensorConfigs newMagnetSensor )

inlineconstexpr

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

Configs that affect the magnet sensor and how to interpret it.

Includes sensor direction, the sensor discontinuity point, and the magnet offset.

Parameters

newMagnetSensor

Parameter to modify

Returns

Itself

Member Data Documentation

CustomParams

CustomParamsConfigs ctre::phoenix6::configs::CANcoderConfiguration::CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

FutureProofConfigs

bool ctre::phoenix6::configs::CANcoderConfiguration::FutureProofConfigs {true}

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.

MagnetSensor

MagnetSensorConfigs ctre::phoenix6::configs::CANcoderConfiguration::MagnetSensor

Configs that affect the magnet sensor and how to interpret it.

Includes sensor direction, the sensor discontinuity point, and the magnet offset.

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The documentation for this class was generated from the following file:

• ctre/phoenix6/core/CoreCANcoder.hpp