ctre::phoenix6::configs::CANrangeConfiguration Class Reference

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

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

Inheritance diagram for ctre::phoenix6::configs::CANrangeConfiguration:

Public Member Functions
constexpr	CANrangeConfiguration ()=default
constexpr CANrangeConfiguration &	WithCustomParams (CustomParamsConfigs newCustomParams)
	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
constexpr CANrangeConfiguration &	WithToFParams (ToFParamsConfigs newToFParams)
	Modifies this configuration's ToFParams parameter and returns itself for method-chaining and easier to use config API.
constexpr CANrangeConfiguration &	WithProximityParams (ProximityParamsConfigs newProximityParams)
	Modifies this configuration's ProximityParams parameter and returns itself for method-chaining and easier to use config API.
constexpr CANrangeConfiguration &	WithFovParams (FovParamsConfigs newFovParams)
	Modifies this configuration's FovParams 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.
CustomParamsConfigs	CustomParams
	Custom Params.
ToFParamsConfigs	ToFParams
	Configs that affect the ToF sensor.
ProximityParamsConfigs	ProximityParams
	Configs that affect the ToF Proximity detection.
FovParamsConfigs	FovParams
	Configs that affect the ToF Field of View.

Detailed Description

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 hardware::CANrange

Constructor & Destructor Documentation

CANrangeConfiguration()

constexpr ctre::phoenix6::configs::CANrangeConfiguration::CANrangeConfiguration ( )

constexprdefault

Member Function Documentation

Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANrangeConfiguration::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::CANrangeConfiguration::Serialize ( ) const

inlinevirtual

Get the serialized form of this configuration.

Implements ctre::phoenix6::ISerializable.

ToString()

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

inlinevirtual

Get the string representation of this configuration.

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

WithCustomParams()

constexpr CANrangeConfiguration & ctre::phoenix6::configs::CANrangeConfiguration::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

WithFovParams()

constexpr CANrangeConfiguration & ctre::phoenix6::configs::CANrangeConfiguration::WithFovParams ( FovParamsConfigs newFovParams )

inlineconstexpr

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

Parameters

newFovParams

Parameter to modify

Returns

Itself

WithProximityParams()

constexpr CANrangeConfiguration & ctre::phoenix6::configs::CANrangeConfiguration::WithProximityParams ( ProximityParamsConfigs newProximityParams )

inlineconstexpr

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

Parameters

newProximityParams

Parameter to modify

Returns

Itself

WithToFParams()

constexpr CANrangeConfiguration & ctre::phoenix6::configs::CANrangeConfiguration::WithToFParams ( ToFParamsConfigs newToFParams )

inlineconstexpr

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

Parameters

newToFParams

Parameter to modify

Returns

Itself

Member Data Documentation

CustomParams

CustomParamsConfigs ctre::phoenix6::configs::CANrangeConfiguration::CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

FovParams

FovParamsConfigs ctre::phoenix6::configs::CANrangeConfiguration::FovParams

Configs that affect the ToF Field of View.

Includes range and center configs

FutureProofConfigs

bool ctre::phoenix6::configs::CANrangeConfiguration::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.

ProximityParams

ProximityParamsConfigs ctre::phoenix6::configs::CANrangeConfiguration::ProximityParams

Configs that affect the ToF Proximity detection.

Includes proximity mode and the threshold for simple detection

ToFParams

ToFParamsConfigs ctre::phoenix6::configs::CANrangeConfiguration::ToFParams

Configs that affect the ToF sensor.

Includes Update mode and frequency

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

• ctre/phoenix6/core/CoreCANrange.hpp