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

#include <ctre/phoenix6/core/CoreCANcoder.hpp>

Inheritance diagram for ctre::phoenix6::configs::CANcoderConfigurator:

Public Member Functions
ctre::phoenix::StatusCode	Refresh (CANcoderConfiguration &configs) const
	Refreshes the values of the specified config group.

ctre::phoenix::StatusCode	Refresh (CANcoderConfiguration &configs, units::time::second_t timeoutSeconds) const
	Refreshes the values of the specified config group.

ctre::phoenix::StatusCode	Apply (const CANcoderConfiguration &configs)
	Applies the contents of the specified config to the device.

ctre::phoenix::StatusCode	Apply (const CANcoderConfiguration &configs, units::time::second_t timeoutSeconds)
	Applies the contents of the specified config to the device.

ctre::phoenix::StatusCode	Refresh (MagnetSensorConfigs &configs) const
	Refreshes the values of the specified config group.

ctre::phoenix::StatusCode	Refresh (MagnetSensorConfigs &configs, units::time::second_t timeoutSeconds) const
	Refreshes the values of the specified config group.

ctre::phoenix::StatusCode	Apply (const MagnetSensorConfigs &configs)
	Applies the contents of the specified config to the device.

ctre::phoenix::StatusCode	Apply (const MagnetSensorConfigs &configs, units::time::second_t timeoutSeconds)
	Applies the contents of the specified config to the device.

ctre::phoenix::StatusCode	Refresh (CustomParamsConfigs &configs) const
	Refreshes the values of the specified config group.

ctre::phoenix::StatusCode	Refresh (CustomParamsConfigs &configs, units::time::second_t timeoutSeconds) const
	Refreshes the values of the specified config group.

ctre::phoenix::StatusCode	Apply (const CustomParamsConfigs &configs)
	Applies the contents of the specified config to the device.

ctre::phoenix::StatusCode	Apply (const CustomParamsConfigs &configs, units::time::second_t timeoutSeconds)
	Applies the contents of the specified config to the device.

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

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

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

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

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

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

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

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_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.

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

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

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_BadMagnet ()
	Clear sticky fault: The magnet distance is not correct or magnet is missing.

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

Additional Inherited Members
Public Attributes inherited from ctre::phoenix6::configs::ParentConfigurator
units::time::second_t	DefaultTimeoutSeconds {0.100_s}
	The default maximum amount of time to wait for a config.

Protected Member Functions inherited from ctre::phoenix6::configs::ParentConfigurator
	ParentConfigurator (hardware::DeviceIdentifier deviceIdentifier)

	ParentConfigurator (ParentConfigurator const &)=delete

ParentConfigurator &	operator= (ParentConfigurator const &)=delete

void	ReportIfFrequent () const

ctre::phoenix::StatusCode	SetConfigsPrivate (const std::string &serializedString, units::time::second_t timeoutSeconds, bool futureProofConfigs, bool overrideIfDuplicate)

ctre::phoenix::StatusCode	GetConfigsPrivate (std::string &serializedString, units::time::second_t timeoutSeconds) const

Detailed Description

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

This handles the configurations for the hardware::CANcoder

Member Function Documentation

◆ Apply() [1/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Apply ( const CANcoderConfiguration & configs )

inline

Applies the contents of the specified config to the device.

This will wait up to DefaultTimeoutSeconds.

Call to apply the selected configs.

Parameters

configs Configs to apply against.

Returns: StatusCode of the set command

◆ Apply() [2/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Apply	(	const CANcoderConfiguration &	configs,
		units::time::second_t	timeoutSeconds )

inline

Applies the contents of the specified config to the device.

Call to apply the selected configs.

Parameters

configs	Configs to apply against.
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns: StatusCode of the set command

◆ Apply() [3/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Apply ( const CustomParamsConfigs & configs )

inline

Applies the contents of the specified config to the device.

This will wait up to DefaultTimeoutSeconds.

Call to apply the selected configs.

Parameters

configs Configs to apply against.

Returns: StatusCode of the set command

◆ Apply() [4/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Apply	(	const CustomParamsConfigs &	configs,
		units::time::second_t	timeoutSeconds )

inline

Applies the contents of the specified config to the device.

Call to apply the selected configs.

Parameters

configs	Configs to apply against.
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns: StatusCode of the set command

◆ Apply() [5/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Apply ( const MagnetSensorConfigs & configs )

inline

Applies the contents of the specified config to the device.

This will wait up to DefaultTimeoutSeconds.

Call to apply the selected configs.

Parameters

configs Configs to apply against.

Returns: StatusCode of the set command

◆ Apply() [6/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Apply	(	const MagnetSensorConfigs &	configs,
		units::time::second_t	timeoutSeconds )

inline

Applies the contents of the specified config to the device.

Call to apply the selected configs.

Parameters

configs	Configs to apply against.
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns: StatusCode of the set command

◆ ClearStickyFault_BadMagnet() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_BadMagnet ( )

inline

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.

Returns: StatusCode of the set command

◆ ClearStickyFault_BadMagnet() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_BadMagnet ( units::time::second_t timeoutSeconds )

inline

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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_BootDuringEnable ( )

inline

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.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds )

inline

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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_Hardware ( )

inline

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.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds )

inline

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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_Undervoltage ( )

inline

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.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds )

inline

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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_UnlicensedFeatureInUse ( )

inline

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.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFault_UnlicensedFeatureInUse ( units::time::second_t timeoutSeconds )

inline

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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFaults ( )

inline

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.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::ClearStickyFaults ( units::time::second_t timeoutSeconds )

inline

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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ Refresh() [1/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Refresh ( CANcoderConfiguration & configs ) const

inline

Refreshes the values of the specified config group.

This will wait up to DefaultTimeoutSeconds.

Call to refresh the selected configs from the device.

Parameters

configs The configs to refresh

Returns: StatusCode of refreshing the configs

◆ Refresh() [2/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Refresh	(	CANcoderConfiguration &	configs,
		units::time::second_t	timeoutSeconds ) const

inline

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

Parameters

configs	The configs to refresh
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns: StatusCode of refreshing the configs

◆ Refresh() [3/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Refresh ( CustomParamsConfigs & configs ) const

inline

Refreshes the values of the specified config group.

This will wait up to DefaultTimeoutSeconds.

Call to refresh the selected configs from the device.

Parameters

configs The configs to refresh

Returns: StatusCode of refreshing the configs

◆ Refresh() [4/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Refresh	(	CustomParamsConfigs &	configs,
		units::time::second_t	timeoutSeconds ) const

inline

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

Parameters

configs	The configs to refresh
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns: StatusCode of refreshing the configs

◆ Refresh() [5/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Refresh ( MagnetSensorConfigs & configs ) const

inline

Refreshes the values of the specified config group.

This will wait up to DefaultTimeoutSeconds.

Call to refresh the selected configs from the device.

Parameters

configs The configs to refresh

Returns: StatusCode of refreshing the configs

◆ Refresh() [6/6]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::Refresh	(	MagnetSensorConfigs &	configs,
		units::time::second_t	timeoutSeconds ) const

inline

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

Parameters

configs	The configs to refresh
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns: StatusCode of refreshing the configs

◆ SetPosition() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::SetPosition ( units::angle::turn_t newValue )

inline

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.

Parameters

newValue Value to set to. Units are in rotations.

Returns: StatusCode of the set command

◆ SetPosition() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::configs::CANcoderConfigurator::SetPosition	(	units::angle::turn_t	newValue,
		units::time::second_t	timeoutSeconds )

inline

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.

Parameters

newValue	Value to set to. Units are in rotations.
timeoutSeconds	Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

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

ctre/phoenix6/core/CoreCANcoder.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ Apply() [1/6]

◆ Apply() [2/6]

◆ Apply() [3/6]

◆ Apply() [4/6]

◆ Apply() [5/6]

◆ Apply() [6/6]

◆ ClearStickyFault_BadMagnet() [1/2]

◆ ClearStickyFault_BadMagnet() [2/2]

◆ ClearStickyFault_BootDuringEnable() [1/2]

◆ ClearStickyFault_BootDuringEnable() [2/2]

◆ ClearStickyFault_Hardware() [1/2]

◆ ClearStickyFault_Hardware() [2/2]

◆ ClearStickyFault_Undervoltage() [1/2]

◆ ClearStickyFault_Undervoltage() [2/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

◆ ClearStickyFaults() [1/2]

◆ ClearStickyFaults() [2/2]

◆ Refresh() [1/6]

◆ Refresh() [2/6]

◆ Refresh() [3/6]

◆ Refresh() [4/6]

◆ Refresh() [5/6]

◆ Refresh() [6/6]

◆ SetPosition() [1/2]

◆ SetPosition() [2/2]