Table of Contents

Class MagnetSensorConfigs

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

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

Includes sensor direction, the sensor discontinuity point, and the magnet offset. 
public class MagnetSensorConfigs : IParentConfiguration, ISerializable, ICloneable
Inheritance
MagnetSensorConfigs
Implements
Inherited Members

Fields

AbsoluteSensorDiscontinuityPoint

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

  • Setting this to 1 makes the absolute position unsigned [0, 1)
  • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
  • Setting this to 0 makes the absolute position always negative [-1, 0)

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.
  • Minimum Value0.0
  • Maximum Value1.0
  • Default Value0.5
  • Unitsrotations
public double AbsoluteSensorDiscontinuityPoint

Field Value

double

MagnetOffset

This offset is added to the reported position, allowing the application to trim the zero position. When set to the default value of zero, position reports zero when magnet north pole aligns with the LED.

  • Minimum Value-1
  • Maximum Value1
  • Default Value0
  • Unitsrotations
public double MagnetOffset

Field Value

double

SensorDirection

Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder.

public SensorDirectionValue SensorDirection

Field Value

SensorDirectionValue

Methods

Clone()

Creates a copy of this config group.

public MagnetSensorConfigs Clone()

Returns

MagnetSensorConfigs

Deserialize(string)

Deserialize string and put values into this object

public StatusCode Deserialize(string to_deserialize)

Parameters

to_deserialize string

String to deserialize

Returns

StatusCode

OK if deserialization is OK

Serialize()

Serialize this object into a string

public string Serialize()

Returns

string

This object's data serialized into a string

ToString()

Provides the string representation of this object

public override string ToString()

Returns

string

WithAbsoluteSensorDiscontinuityPoint(double)

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

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).
  • Setting this to 1 makes the absolute position unsigned [0, 1)
  • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
  • Setting this to 0 makes the absolute position always negative [-1, 0)

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.
  • Minimum Value0.0
  • Maximum Value1.0
  • Default Value0.5
  • Unitsrotations
public MagnetSensorConfigs WithAbsoluteSensorDiscontinuityPoint(double newAbsoluteSensorDiscontinuityPoint)

Parameters

newAbsoluteSensorDiscontinuityPoint double

Parameter to modify

Returns

MagnetSensorConfigs

Itself

WithMagnetOffset(double)

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

This offset is added to the reported position, allowing the application to trim the zero position. When set to the default value of zero, position reports zero when magnet north pole aligns with the LED.
  • Minimum Value-1
  • Maximum Value1
  • Default Value0
  • Unitsrotations
public MagnetSensorConfigs WithMagnetOffset(double newMagnetOffset)

Parameters

newMagnetOffset double

Parameter to modify

Returns

MagnetSensorConfigs

Itself

WithSensorDirection(SensorDirectionValue)

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

Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder. 
public MagnetSensorConfigs WithSensorDirection(SensorDirectionValue newSensorDirection)

Parameters

newSensorDirection SensorDirectionValue

Parameter to modify

Returns

MagnetSensorConfigs

Itself