Table of Contents

Class CANdiConfiguration

Namespace
CTRE.Phoenix6.Configs
Assembly
Phoenix6.Hardware.dll

Class for CTR Electronics' CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network.

This defines all configurations for the CANdi. 
public class CANdiConfiguration : IParentConfiguration, ISerializable, ICloneable
Inheritance
CANdiConfiguration
Implements
Inherited Members

Fields

CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list: 
public CustomParamsConfigs CustomParams

Field Value

CustomParamsConfigs

DigitalInputs

Configs related to the CANdi™ branded device's digital I/O settings

Contains float-state settings and when to assert the S1/S2 inputs.

Parameter list: 
public DigitalInputsConfigs DigitalInputs

Field Value

DigitalInputsConfigs

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. 
public bool FutureProofConfigs

Field Value

bool

PWM1

Configs related to the CANdi™ branded device's PWM interface on the Signal 1 input (S1IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list: 
public PWM1Configs PWM1

Field Value

PWM1Configs

PWM2

Configs related to the CANdi™ branded device's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list: 
public PWM2Configs PWM2

Field Value

PWM2Configs

Quadrature

Configs related to the CANdi™ branded device's quadrature interface using both the S1IN and S2IN inputs

All the configs related to the quadrature interface for the CANdi™ branded device , including encoder edges per revolution and sensor direction.

Parameter list: 
public QuadratureConfigs Quadrature

Field Value

QuadratureConfigs

Methods

Clone()

Creates a copy of this configuration.

public CANdiConfiguration Clone()

Returns

CANdiConfiguration

Deserialize(string)

Take a string and deserialize it to this configuration

public StatusCode Deserialize(string to_deserialize)

Parameters

to_deserialize string

Returns

StatusCode

Return code of the deserialize method

Serialize()

Get the serialized form of this configuration

public string Serialize()

Returns

string

Serialized form of this config group

ToString()

Provides the string representation of this object

public override string ToString()

Returns

string

WithCustomParams(CustomParamsConfigs)

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: 
public CANdiConfiguration WithCustomParams(CustomParamsConfigs newCustomParams)

Parameters

newCustomParams CustomParamsConfigs

Parameter to modify

Returns

CANdiConfiguration

Itself

WithDigitalInputs(DigitalInputsConfigs)

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

Configs related to the CANdi™ branded device's digital I/O settings

Contains float-state settings and when to assert the S1/S2 inputs.

Parameter list: 
public CANdiConfiguration WithDigitalInputs(DigitalInputsConfigs newDigitalInputs)

Parameters

newDigitalInputs DigitalInputsConfigs

Parameter to modify

Returns

CANdiConfiguration

Itself

WithPWM1(PWM1Configs)

Modifies this configuration's PWM1 parameter and returns itself for method-chaining and easier to use config API.

Configs related to the CANdi™ branded device's PWM interface on the Signal 1 input (S1IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list: 
public CANdiConfiguration WithPWM1(PWM1Configs newPWM1)

Parameters

newPWM1 PWM1Configs

Parameter to modify

Returns

CANdiConfiguration

Itself

WithPWM2(PWM2Configs)

Modifies this configuration's PWM2 parameter and returns itself for method-chaining and easier to use config API.

Configs related to the CANdi™ branded device's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list: 
public CANdiConfiguration WithPWM2(PWM2Configs newPWM2)

Parameters

newPWM2 PWM2Configs

Parameter to modify

Returns

CANdiConfiguration

Itself

WithQuadrature(QuadratureConfigs)

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

Configs related to the CANdi™ branded device's quadrature interface using both the S1IN and S2IN inputs

All the configs related to the quadrature interface for the CANdi™ branded device , including encoder edges per revolution and sensor direction.

Parameter list: 
public CANdiConfiguration WithQuadrature(QuadratureConfigs newQuadrature)

Parameters

newQuadrature QuadratureConfigs

Parameter to modify

Returns

CANdiConfiguration

Itself