Package com.ctre.phoenix6.configs

Class CANcoderConfiguration

java.lang.Object

com.ctre.phoenix6.configs.CANcoderConfiguration

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class CANcoderConfiguration
extends Object
implements ParentConfiguration

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

Field Summary

Fields

Modifier and Type	Field	Description
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
MagnetSensorConfigs	MagnetSensor	Configs that affect the magnet sensor and how to interpret it.

Constructor Summary

Constructors

Constructor	Description
CANcoderConfiguration()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)	Take a string and deserialize it to this configuration
String	serialize()	Get the serialized form of this configuration
String	toString()
CANcoderConfiguration	withMagnetSensor(MagnetSensorConfigs newMagnetSensor)	Modifies this configuration's MagnetSensor parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

FutureProofConfigs

public boolean 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.

MagnetSensor

public MagnetSensorConfigs MagnetSensor

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

Includes sensor range, sensor direction, and the magnet offset.

Constructor Details

CANcoderConfiguration

public CANcoderConfiguration()

Method Details

withMagnetSensor

public CANcoderConfiguration withMagnetSensor(MagnetSensorConfigs newMagnetSensor)

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

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

Includes sensor range, sensor direction, and the magnet offset.

Parameters:

newMagnetSensor - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

serialize

public String serialize()

Get the serialized form of this configuration

Specified by:

serialize in interface ISerializable

Returns:

Serialized form of this config group

deserialize

public StatusCode deserialize(String to_deserialize)

Take a string and deserialize it to this configuration

Specified by:

deserialize in interface ParentConfiguration

Returns:

Return code of the deserialize method