Class CANcoderConfigurator

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

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

This handles applying and refreshing the configurations for the CANcoder.

public class CANcoderConfigurator : ParentConfigurator

Inheritance

object

ParentConfigurator

CANcoderConfigurator

Inherited Members

ParentConfigurator.DefaultTimeoutSeconds

ParentConfigurator.ReportIfFrequent()

ParentConfigurator.SetConfigsPrivate(string, double, bool, bool)

ParentConfigurator.GetConfigsPrivate(ref string, double)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

Apply(CANcoderConfiguration)

Applies the contents of the specified config to the device.

This will wait up to DefaultTimeoutSeconds.

Call to apply the selected configs.

public StatusCode Apply(CANcoderConfiguration configs)

Parameters

configs CANcoderConfiguration

Configs to apply against.

Returns

StatusCode

StatusCode of the set command

Apply(CANcoderConfiguration, double)

Applies the contents of the specified config to the device.

Call to apply the selected configs.

public StatusCode Apply(CANcoderConfiguration configs, double timeoutSeconds)

Parameters

configs CANcoderConfiguration

Configs to apply against.

timeoutSeconds double

Maximum amount of time to wait when performing configuration

Returns

StatusCode

StatusCode of the set command

Apply(CustomParamsConfigs)

Applies the contents of the specified config to the device.

This will wait up to DefaultTimeoutSeconds.

Call to apply the selected configs.

public StatusCode Apply(CustomParamsConfigs configs)

Parameters

configs CustomParamsConfigs

Configs to apply against.

Returns

StatusCode

StatusCode of the set command

Apply(CustomParamsConfigs, double)

Applies the contents of the specified config to the device.

Call to apply the selected configs.

public StatusCode Apply(CustomParamsConfigs configs, double timeoutSeconds)

Parameters

configs CustomParamsConfigs

Configs to apply against.

timeoutSeconds double

Maximum amount of time to wait when performing configuration

Returns

StatusCode

StatusCode of the set command

Apply(MagnetSensorConfigs)

Applies the contents of the specified config to the device.

This will wait up to DefaultTimeoutSeconds.

Call to apply the selected configs.

public StatusCode Apply(MagnetSensorConfigs configs)

Parameters

configs MagnetSensorConfigs

Configs to apply against.

Returns

StatusCode

StatusCode of the set command

Apply(MagnetSensorConfigs, double)

Applies the contents of the specified config to the device.

Call to apply the selected configs.

public StatusCode Apply(MagnetSensorConfigs configs, double timeoutSeconds)

Parameters

configs MagnetSensorConfigs

Configs to apply against.

timeoutSeconds double

Maximum amount of time to wait when performing configuration

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BadMagnet()

Clear sticky fault: The magnet distance is not correct or magnet is missing

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_BadMagnet()

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BadMagnet(double)

Clear sticky fault: The magnet distance is not correct or magnet is missing

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_BadMagnet(double timeoutSeconds)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootDuringEnable()

Clear sticky fault: Device boot while detecting the enable signal

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_BootDuringEnable()

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootDuringEnable(double)

Clear sticky fault: Device boot while detecting the enable signal

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_BootDuringEnable(double timeoutSeconds)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Hardware()

Clear sticky fault: Hardware fault occurred

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_Hardware()

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Hardware(double)

Clear sticky fault: Hardware fault occurred

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_Hardware(double timeoutSeconds)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Undervoltage()

Clear sticky fault: Device supply voltage dropped to near brownout levels

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_Undervoltage()

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Undervoltage(double)

Clear sticky fault: Device supply voltage dropped to near brownout levels

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_Undervoltage(double timeoutSeconds)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnlicensedFeatureInUse()

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_UnlicensedFeatureInUse()

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnlicensedFeatureInUse(double)

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFaults()

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFaults()

Returns

StatusCode

StatusCode of the set command

ClearStickyFaults(double)

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode ClearStickyFaults(double timeoutSeconds)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

Refresh(CANcoderConfiguration)

Refreshes the values of the specified config group.

This will wait up to DefaultTimeoutSeconds.

Call to refresh the selected configs from the device.

public StatusCode Refresh(CANcoderConfiguration configs)

Parameters

configs CANcoderConfiguration

The configs to refresh

Returns

StatusCode

StatusCode of refreshing the configs

Refresh(CANcoderConfiguration, double)

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

public StatusCode Refresh(CANcoderConfiguration configs, double timeoutSeconds)

Parameters

configs CANcoderConfiguration

The configs to refresh

timeoutSeconds double

Maximum amount of time to wait when performing configuration

Returns

StatusCode

StatusCode of refreshing the configs

Refresh(CustomParamsConfigs)

Refreshes the values of the specified config group.

This will wait up to DefaultTimeoutSeconds.

Call to refresh the selected configs from the device.

public StatusCode Refresh(CustomParamsConfigs configs)

Parameters

configs CustomParamsConfigs

The configs to refresh

Returns

StatusCode

StatusCode of refreshing the configs

Refresh(CustomParamsConfigs, double)

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

public StatusCode Refresh(CustomParamsConfigs configs, double timeoutSeconds)

Parameters

configs CustomParamsConfigs

The configs to refresh

timeoutSeconds double

Maximum amount of time to wait when performing configuration

Returns

StatusCode

StatusCode of refreshing the configs

Refresh(MagnetSensorConfigs)

Refreshes the values of the specified config group.

This will wait up to DefaultTimeoutSeconds.

Call to refresh the selected configs from the device.

public StatusCode Refresh(MagnetSensorConfigs configs)

Parameters

configs MagnetSensorConfigs

The configs to refresh

Returns

StatusCode

StatusCode of refreshing the configs

Refresh(MagnetSensorConfigs, double)

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

public StatusCode Refresh(MagnetSensorConfigs configs, double timeoutSeconds)

Parameters

configs MagnetSensorConfigs

The configs to refresh

timeoutSeconds double

Maximum amount of time to wait when performing configuration

Returns

StatusCode

StatusCode of refreshing the configs

SetPosition(double)

Sets the current position of the device.

This will wait up to DefaultTimeoutSeconds.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode SetPosition(double newValue)

Parameters

newValue double

Value to set to. Units are in rotations.

Returns

StatusCode

StatusCode of the set command

SetPosition(double, double)

Sets the current position of the device.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

public StatusCode SetPosition(double newValue, double timeoutSeconds)

Parameters

newValue double

Value to set to. Units are in rotations.

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command