Table of Contents

Class CoreCANcoder

Namespace
CTRE.Phoenix6.Hardware.Core
Assembly
Phoenix6.Hardware.dll

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

public class CoreCANcoder : ParentDevice, CommonDevice
Inheritance
CoreCANcoder
Implements
Derived
Inherited Members

Constructors

CoreCANcoder(int)

Constructs a new CANcoder object.

Constructs the device using the default CAN bus for the system (see CANBus(string)). 
public CoreCANcoder(int deviceId)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

CoreCANcoder(int, CANBus)

Constructs a new CANcoder object.

public CoreCANcoder(int deviceId, CANBus canbus)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

canbus CANBus

The CAN bus this device is on

CoreCANcoder(int, string)

Constructs a new CANcoder object.

[Obsolete("Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.")]
public CoreCANcoder(int deviceId, string canbus)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

canbus string

Name of the CAN bus. Possible CAN bus strings are:

  • 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:
    • "can0" on Linux
    • "" on Windows

Properties

Configurator

The configurator for this device. Users may use this to refresh and apply configs, such as the CANcoderConfiguration object

public CANcoderConfigurator Configurator { get; }

Property Value

CANcoderConfigurator

SimState

Gets the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. 
public CANcoderSimState SimState { get; }

Property Value

CANcoderSimState

Methods

ClearStickyFault_BadMagnet(double)

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

public StatusCode ClearStickyFault_BadMagnet(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootDuringEnable(double)

Clear sticky fault: Device boot while detecting the enable signal

public StatusCode ClearStickyFault_BootDuringEnable(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Hardware(double)

Clear sticky fault: Hardware fault occurred

public StatusCode ClearStickyFault_Hardware(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Undervoltage(double)

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

public StatusCode ClearStickyFault_Undervoltage(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

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.

public StatusCode ClearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

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. 
public StatusCode ClearStickyFaults(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

GetAbsolutePosition(bool)

Absolute Position of the device. The possible range is documented below; however, the exact expected range is determined by the AbsoluteSensorDiscontinuityPoint. This position is only affected by the MagnetSensor configs.

  • Minimum Value-1.0
  • Maximum Value0.999755859375
  • Default Value0
  • Unitsrotations

Default Rates:

  • CAN 2.0100.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAbsolutePosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AbsolutePosition Status Signal Object

GetFaultField(bool)

Integer representing all fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.
  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

FaultField Status Signal Object

GetFault_BadMagnet(bool)

The magnet distance is not correct or magnet is missing

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BadMagnet(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BadMagnet Status Signal Object

GetFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootDuringEnable Status Signal Object

GetFault_Hardware(bool)

Hardware fault occurred

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Hardware Status Signal Object

GetFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Undervoltage Status Signal Object

GetFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UnlicensedFeatureInUse Status Signal Object

GetIsProLicensed(bool)

Whether the device is Phoenix Pro licensed.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetIsProLicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

IsProLicensed Status Signal Object

GetMagnetHealth(bool)

Magnet health as measured by CANcoder.

Red indicates too close or too far, Orange is adequate but with reduced accuracy, green is ideal. Invalid means the accuracy cannot be determined.

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<MagnetHealthValue> GetMagnetHealth(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<MagnetHealthValue>

MagnetHealth Status Signal Object

GetPosition(bool)

Position of the device. This is initialized to the absolute position on boot.

  • Minimum Value-16384.0
  • Maximum Value16383.999755859375
  • Default Value0
  • Unitsrotations

Default Rates:

  • CAN 2.0100.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetPosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Position Status Signal Object

GetPositionSinceBoot(bool)

The relative position reported by the CANcoder since boot.

This is the total displacement reported by CANcoder since power up. This signal is relative and is not influenced by the fusing algorithm.
  • Minimum Value-16384.0
  • Maximum Value16383.999755859375
  • Default Value0
  • Unitsrotations

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetPositionSinceBoot(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

PositionSinceBoot Status Signal Object

GetStickyFaultField(bool)

Integer representing all (persistent) sticky fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.
  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetStickyFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

StickyFaultField Status Signal Object

GetStickyFault_BadMagnet(bool)

The magnet distance is not correct or magnet is missing

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BadMagnet(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BadMagnet Status Signal Object

GetStickyFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootDuringEnable Status Signal Object

GetStickyFault_Hardware(bool)

Hardware fault occurred

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Hardware Status Signal Object

GetStickyFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Undervoltage Status Signal Object

GetStickyFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UnlicensedFeatureInUse Status Signal Object

GetSupplyVoltage(bool)

Measured supply voltage to the CANcoder.

  • Minimum Value4
  • Maximum Value16.75
  • Default Value4
  • UnitsV

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetSupplyVoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

SupplyVoltage Status Signal Object

GetUnfilteredVelocity(bool)

The unfiltered velocity reported by CANcoder.

This is the unfiltered velocity reported by CANcoder. This signal does not use the fusing algorithm.
  • Minimum Value-8000.0
  • Maximum Value7999.755859375
  • Default Value0
  • Unitsrotations per second

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetUnfilteredVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

UnfilteredVelocity Status Signal Object

GetVelocity(bool)

Velocity of the device.

  • Minimum Value-512.0
  • Maximum Value511.998046875
  • Default Value0
  • Unitsrotations per second

Default Rates:

  • CAN 2.0100.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Velocity Status Signal Object

GetVersion(bool)

Full Version of firmware in device. The format is a four byte value.

  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersion(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

Version Status Signal Object

GetVersionBugfix(bool)

App Bugfix Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionBugfix(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBugfix Status Signal Object

GetVersionBuild(bool)

App Build Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionBuild(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBuild Status Signal Object

GetVersionMajor(bool)

App Major Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionMajor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMajor Status Signal Object

GetVersionMinor(bool)

App Minor Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionMinor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMinor Status Signal Object

SetControl(ControlRequest)

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode 
public StatusCode SetControl(ControlRequest request)

Parameters

request ControlRequest

Control object to request of the device

Returns

StatusCode

Status Code of the request, 0 is OK

SetPosition(double, double)

Sets the current position of the device.

public StatusCode SetPosition(double newValue, double timeoutSeconds = 0.1)

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