Package com.ctre.phoenix6.configs

Class MagnetSensorConfigs

java.lang.Object

com.ctre.phoenix6.configs.MagnetSensorConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class MagnetSensorConfigs
extends Object
implements ParentConfiguration

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

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

Field Summary

Fields

Modifier and Type	Field	Description
AbsoluteSensorRangeValue	AbsoluteSensorRange	The range of the absolute sensor in rotations, either [-0.5, 0.5) or [0, 1).
double	MagnetOffset	This offset is added to the reported position, allowing the application to trim the zero position.
SensorDirectionValue	SensorDirection	Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder.

Constructor Summary

Constructors

Constructor	Description
MagnetSensorConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()
MagnetSensorConfigs	withAbsoluteSensorRange(AbsoluteSensorRangeValue newAbsoluteSensorRange)	Modifies this configuration's AbsoluteSensorRange parameter and returns itself for method-chaining and easier to use config API.
MagnetSensorConfigs	withMagnetOffset(double newMagnetOffset)	Modifies this configuration's MagnetOffset parameter and returns itself for method-chaining and easier to use config API.
MagnetSensorConfigs	withSensorDirection(SensorDirectionValue newSensorDirection)	Modifies this configuration's SensorDirection 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

SensorDirection

public SensorDirectionValue SensorDirection

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

MagnetOffset

public 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 Value: 1
• Default Value: 0
• Units: rotations

AbsoluteSensorRange

public AbsoluteSensorRangeValue AbsoluteSensorRange

The range of the absolute sensor in rotations, either [-0.5, 0.5) or [0, 1).

Constructor Details

MagnetSensorConfigs

public MagnetSensorConfigs()

Method Details

withSensorDirection

public MagnetSensorConfigs withSensorDirection(SensorDirectionValue newSensorDirection)

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.

Parameters:

newSensorDirection - Parameter to modify

Returns:

Itself

withMagnetOffset

public MagnetSensorConfigs withMagnetOffset(double newMagnetOffset)

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 Value: 1
• Default Value: 0
• Units: rotations

Parameters:

newMagnetOffset - Parameter to modify

Returns:

Itself

withAbsoluteSensorRange

public MagnetSensorConfigs withAbsoluteSensorRange(AbsoluteSensorRangeValue newAbsoluteSensorRange)

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

The range of the absolute sensor in rotations, either [-0.5, 0.5) or [0, 1).

Parameters:

newAbsoluteSensorRange - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String to_deserialize)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable