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::hardware::core::CoreCANcoder:

Public Types
using	Configuration = configs::CANcoderConfiguration

Public Member Functions
	CoreCANcoder (int deviceId, std::string canbus="")
	Constructs a new CANcoder object.

	CoreCANcoder (int deviceId, CANBus canbus)
	Constructs a new CANcoder object.

configs::CANcoderConfigurator &	GetConfigurator ()
	Gets the configurator for this CANcoder.

configs::CANcoderConfigurator const &	GetConfigurator () const
	Gets the configurator for this CANcoder.

sim::CANcoderSimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetVelocity (bool refresh=true)
	Velocity of the device.

StatusSignal< units::angle::turn_t > &	GetPosition (bool refresh=true)
	Position of the device.

StatusSignal< units::angle::turn_t > &	GetAbsolutePosition (bool refresh=true)
	Absolute Position of the device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetUnfilteredVelocity (bool refresh=true)
	The unfiltered velocity reported by CANcoder.

StatusSignal< units::angle::turn_t > &	GetPositionSinceBoot (bool refresh=true)
	The relative position reported by the CANcoder since boot.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the CANcoder.

StatusSignal< signals::MagnetHealthValue > &	GetMagnetHealth (bool refresh=true)
	Magnet health as measured by CANcoder.

StatusSignal< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_BadMagnet (bool refresh=true)
	The magnet distance is not correct or magnet is missing.

StatusSignal< bool > &	GetStickyFault_BadMagnet (bool refresh=true)
	The magnet distance is not correct or magnet is missing.

ctre::phoenix::StatusCode	SetControl (const controls::ControlRequest &request)
	Control device with generic control request object.

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

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

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

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

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

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

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_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

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

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

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

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

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

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)

virtual	~ParentDevice ()=default

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const

const std::string &	GetNetwork () const

uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control.

bool	HasResetOccurred ()

std::function< bool()>	GetResetOccurredChecker () const

bool	IsConnected (units::second_t maxLatencySeconds=500_ms)
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)
	Resets the update frequencies of all the device's status signals to the defaults.

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::vector< ParentDevice * > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

template<size_t N>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::array< ParentDevice *, N > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (const controls::ControlRequest &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::function< std::map< uint16_t, std::string >()> mapFiller, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh)
	Returns a unitless version of the StatusSignal by value.

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static controls::EmptyControl	_emptyControl {}

template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are subclasses of ParentDevice.

Detailed Description

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

Member Typedef Documentation

◆ Configuration

using ctre::phoenix6::hardware::core::CoreCANcoder::Configuration = configs::CANcoderConfiguration

Constructor & Destructor Documentation

◆ CoreCANcoder() [1/2]

ctre::phoenix6::hardware::core::CoreCANcoder::CoreCANcoder	(	int	deviceId,
		std::string	canbus = "" )

Constructs a new CANcoder object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	Name of the CAN bus this device is on. Possible CAN bus strings are: "rio" for the native roboRIO CAN bus 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: "rio" on roboRIO "can0" on Linux "" on Windows

◆ CoreCANcoder() [2/2]

ctre::phoenix6::hardware::core::CoreCANcoder::CoreCANcoder	(	int	deviceId,
		CANBus	canbus )

inline

Constructs a new CANcoder object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	The CAN bus this device is on.

Member Function Documentation

◆ ClearStickyFault_BadMagnet() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::ClearStickyFault_BadMagnet ( )

inline

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

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BadMagnet() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::ClearStickyFault_BadMagnet ( units::time::second_t timeoutSeconds )

inline

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

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::hardware::core::CoreCANcoder::ClearStickyFault_BootDuringEnable ( )

inline

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

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds )

inline

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

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::hardware::core::CoreCANcoder::ClearStickyFault_Hardware ( )

inline

Clear sticky fault: Hardware fault occurred.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Hardware fault occurred.

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::hardware::core::CoreCANcoder::ClearStickyFault_Undervoltage ( )

inline

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

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds )

inline

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

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::hardware::core::CoreCANcoder::ClearStickyFault_UnlicensedFeatureInUse ( )

inline

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

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::ClearStickyFault_UnlicensedFeatureInUse ( units::time::second_t timeoutSeconds )

inline

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

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::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 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::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.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ GetAbsolutePosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreCANcoder::GetAbsolutePosition ( bool refresh = true )

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 Value: 0.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: AbsolutePosition Status Signal Object

◆ GetConfigurator() [1/2]

configs::CANcoderConfigurator & ctre::phoenix6::hardware::core::CoreCANcoder::GetConfigurator ( )

inline

Gets the configurator for this CANcoder.

Gets the configurator for this CANcoder

Returns: Configurator for this CANcoder

◆ GetConfigurator() [2/2]

configs::CANcoderConfigurator const & ctre::phoenix6::hardware::core::CoreCANcoder::GetConfigurator ( ) const

inline

Gets the configurator for this CANcoder.

Gets the configurator for this CANcoder

Returns: Configurator for this CANcoder

◆ GetFault_BadMagnet()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetFault_BadMagnet ( bool refresh = true )

The magnet distance is not correct or magnet is missing.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Fault_BadMagnet Status Signal Object

◆ GetFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetFault_BootDuringEnable ( bool refresh = true )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Fault_BootDuringEnable Status Signal Object

◆ GetFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetFault_Hardware ( bool refresh = true )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Fault_Hardware Status Signal Object

◆ GetFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetFault_Undervoltage ( bool refresh = true )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Fault_Undervoltage Status Signal Object

◆ GetFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetFault_UnlicensedFeatureInUse ( bool refresh = true )

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

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Fault_UnlicensedFeatureInUse Status Signal Object

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetFaultField ( bool refresh = true )

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 Value: 0
Maximum Value: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: FaultField Status Signal Object

◆ GetIsProLicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetIsProLicensed ( bool refresh = true )

Whether the device is Phoenix Pro licensed.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: IsProLicensed Status Signal Object

◆ GetMagnetHealth()

StatusSignal< signals::MagnetHealthValue > & ctre::phoenix6::hardware::core::CoreCANcoder::GetMagnetHealth ( bool refresh = true )

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 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: MagnetHealth Status Signal Object

◆ GetPosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreCANcoder::GetPosition ( bool refresh = true )

Position of the device.

This is initialized to the absolute position on boot.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Position Status Signal Object

◆ GetPositionSinceBoot()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreCANcoder::GetPositionSinceBoot ( bool refresh = true )

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 Value: 16383.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: PositionSinceBoot Status Signal Object

◆ GetSimState()

sim::CANcoderSimState & ctre::phoenix6::hardware::core::CoreCANcoder::GetSimState ( )

inline

Get 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.

Returns: Simulation state

◆ GetStickyFault_BadMagnet()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetStickyFault_BadMagnet ( bool refresh = true )

The magnet distance is not correct or magnet is missing.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: StickyFault_BadMagnet Status Signal Object

◆ GetStickyFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetStickyFault_BootDuringEnable ( bool refresh = true )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: StickyFault_BootDuringEnable Status Signal Object

◆ GetStickyFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetStickyFault_Hardware ( bool refresh = true )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: StickyFault_Hardware Status Signal Object

◆ GetStickyFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetStickyFault_Undervoltage ( bool refresh = true )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: StickyFault_Undervoltage Status Signal Object

◆ GetStickyFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANcoder::GetStickyFault_UnlicensedFeatureInUse ( bool refresh = true )

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

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: StickyFault_UnlicensedFeatureInUse Status Signal Object

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetStickyFaultField ( bool refresh = true )

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 Value: 0
Maximum Value: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: StickyFaultField Status Signal Object

◆ GetSupplyVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreCANcoder::GetSupplyVoltage ( bool refresh = true )

Measured supply voltage to the CANcoder.

Minimum Value: 4
Maximum Value: 16.75
Default Value: 4
Units: V

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: SupplyVoltage Status Signal Object

◆ GetUnfilteredVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreCANcoder::GetUnfilteredVelocity ( bool refresh = true )

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 Value: 7999.755859375
Default Value: 0
Units: rotations per second

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: UnfilteredVelocity Status Signal Object

◆ GetVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreCANcoder::GetVelocity ( bool refresh = true )

Velocity of the device.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Velocity Status Signal Object

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetVersion ( bool refresh = true )

Full Version of firmware in device.

The format is a four byte value.

Minimum Value: 0
Maximum Value: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: Version Status Signal Object

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetVersionBugfix ( bool refresh = true )

App Bugfix Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: VersionBugfix Status Signal Object

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetVersionBuild ( bool refresh = true )

App Build Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: VersionBuild Status Signal Object

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetVersionMajor ( bool refresh = true )

App Major Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: VersionMajor Status Signal Object

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANcoder::GetVersionMinor ( bool refresh = true )

App Minor Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

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

Returns: VersionMinor Status Signal Object

◆ SetControl()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::SetControl ( const controls::ControlRequest & request )

inline

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

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetPosition() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::SetPosition ( units::angle::turn_t newValue )

inline

Sets the current position of the device.

This will wait up to 0.100 seconds (100ms) by default.

Parameters

newValue Value to set to. Units are in rotations.

Returns: StatusCode of the set command

◆ SetPosition() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANcoder::SetPosition	(	units::angle::turn_t	newValue,
		units::time::second_t	timeoutSeconds )

inline

Sets the current position of the device.

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 Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Configuration

Constructor & Destructor Documentation

◆ CoreCANcoder() [1/2]

◆ CoreCANcoder() [2/2]

Member Function Documentation

◆ 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]

◆ GetAbsolutePosition()

◆ GetConfigurator() [1/2]

◆ GetConfigurator() [2/2]

◆ GetFault_BadMagnet()

◆ GetFault_BootDuringEnable()

◆ GetFault_Hardware()

◆ GetFault_Undervoltage()

◆ GetFault_UnlicensedFeatureInUse()

◆ GetFaultField()

◆ GetIsProLicensed()

◆ GetMagnetHealth()

◆ GetPosition()

◆ GetPositionSinceBoot()

◆ GetSimState()

◆ GetStickyFault_BadMagnet()

◆ GetStickyFault_BootDuringEnable()

◆ GetStickyFault_Hardware()

◆ GetStickyFault_Undervoltage()

◆ GetStickyFault_UnlicensedFeatureInUse()

◆ GetStickyFaultField()

◆ GetSupplyVoltage()

◆ GetUnfilteredVelocity()

◆ GetVelocity()

◆ GetVersion()

◆ GetVersionBugfix()

◆ GetVersionBuild()

◆ GetVersionMajor()

◆ GetVersionMinor()

◆ SetControl()

◆ SetPosition() [1/2]

◆ SetPosition() [2/2]