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

#include <ctre/phoenix6/CANcoder.hpp>

Inheritance diagram for ctre::phoenix6::hardware::CANcoder:

Public Member Functions
	CANcoder (int deviceId, CANBus canbus={})
	Constructs a new CANcoder object.

	CANcoder (int deviceId, std::string canbus)
	Constructs a new CANcoder object.

	~CANcoder ()

void	InitSendable (wpi::SendableBuilder &builder) override

Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreCANcoder
	CoreCANcoder (int deviceId, CANBus canbus={})
	Constructs a new CANcoder object.

	CoreCANcoder (int deviceId, std::string canbus)
	Constructs a new CANcoder object.

configs::CANcoderConfigurator &	GetConfigurator ()
	Gets the configurator for this CANcoder.

configs::CANcoderConfigurator const &	GetConfigurator () const
	Gets the configurator for this CANcoder.

sim::CANcoderSimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetVelocity (bool refresh=true)
	Velocity of the device.

StatusSignal< units::angle::turn_t > &	GetPosition (bool refresh=true)
	Position of the device.

StatusSignal< units::angle::turn_t > &	GetAbsolutePosition (bool refresh=true)
	Absolute Position of the device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetUnfilteredVelocity (bool refresh=true)
	The unfiltered velocity reported by CANcoder.

StatusSignal< units::angle::turn_t > &	GetPositionSinceBoot (bool refresh=true)
	The relative position reported by the CANcoder since boot.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the CANcoder.

StatusSignal< signals::MagnetHealthValue > &	GetMagnetHealth (bool refresh=true)
	Magnet health as measured by CANcoder.

StatusSignal< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_BadMagnet (bool refresh=true)
	The magnet distance is not correct or magnet is missing.

StatusSignal< bool > &	GetStickyFault_BadMagnet (bool refresh=true)
	The magnet distance is not correct or magnet is missing.

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest const &request)
	Control device with generic control request object.

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
	Sets the current position of the device.

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue)
	Sets the current position of the device.

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse ()
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_BadMagnet (units::time::second_t timeoutSeconds)
	Clear sticky fault: The magnet distance is not correct or magnet is missing.

ctre::phoenix::StatusCode	ClearStickyFault_BadMagnet ()
	Clear sticky fault: The magnet distance is not correct or magnet is missing.

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, CANBus canbus)

virtual	~ParentDevice ()=0

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const final

CANBus	GetNetwork () const final

uint64_t	GetDeviceHash () const final
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< controls::ControlRequest const >	GetAppliedControl () const final
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl () final
	Get the latest applied control.

bool	HasResetOccurred () final

std::function< bool()>	GetResetOccurredChecker () const final

bool	IsConnected (units::second_t maxLatencySeconds=500_ms) final
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms) final
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms) final
	Resets the update frequencies of all the device's status signals to the defaults.

Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice
virtual	~CommonDevice ()=default

Additional Inherited Members
Public Types inherited from ctre::phoenix6::hardware::core::CoreCANcoder
using	Configuration = configs::CANcoderConfiguration
	The configuration class for this device.

Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (std::span< traits::CommonDevice *const > devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest const &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, std::function< std::map< uint16_t, std::string >()> mapFiller, bool reportOnConstruction, bool refresh)

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr controls::EmptyControl	_emptyControl {}

Detailed Description

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

Constructor & Destructor Documentation

◆ CANcoder() [1/2]

ctre::phoenix6::hardware::CANcoder::CANcoder	(	int	deviceId,
		CANBus	canbus = {} )

Constructs a new CANcoder object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner
canbus	The CAN bus this device is on

◆ CANcoder() [2/2]

ctre::phoenix6::hardware::CANcoder::CANcoder	(	int	deviceId,
		std::string	canbus )

Constructs a new CANcoder object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner
canbus	Name of the CAN bus this device is on. Possible CAN bus strings are: "rio" for the native roboRIO CAN bus CANivore name or serial number SocketCAN interface (non-FRC Linux only) "" for any CANivore seen by the program empty string (default) to select the default for the system: "rio" on roboRIO "can0" on Linux "" on Windows

Deprecated: Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.

◆ ~CANcoder()

ctre::phoenix6::hardware::CANcoder::~CANcoder ( )

Member Function Documentation

◆ InitSendable()

void ctre::phoenix6::hardware::CANcoder::InitSendable ( wpi::SendableBuilder & builder )

override

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

ctre/phoenix6/CANcoder.hpp

Public Member Functions