Package com.ctre.phoenix6.hardware.core

Class CoreCANcoder

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreCANcoder
Direct Known Subclasses:
CANcoder
public class CoreCANcoder
extends ParentDevice
Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along with filtered velocity. 
 // Constants used in CANcoder construction
 final int kCANcoderId = 0;
 final String kCANcoderCANbus = "canivore";
 
 // Construct the CANcoder
 CANcoder cancoder = new CANcoder(kCANcoderId, kCANcoderCANbus);
 
 // Configure the CANcoder for basic use
 CANcoderConfiguration configs = new CANcoderConfiguration();
 // This CANcoder should report absolute position from [-0.5, 0.5) rotations,
 // with a 0.26 rotation offset, with clockwise being positive
 configs.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRange.Signed_PlusMinusHalf;
 configs.MountPose.MagnetOffset = 0.26;
 configs.MountPose.SensorDirection = SensorDirectionValue.Clockwise_Positive;
 
 // Write these configs to the CANcoder
 cancoder.getConfigurator().apply(configs);
 
 // Set the position to 0 rotations for initial use
 cancoder.setPosition(0);
 
 // Get Position and Velocity
 var position = cancoder.getPosition();
 var velocity = cancoder.getVelocity();
 
 // Refresh and print these values
 System.out.println("Position is " + position.refresh().toString());
 System.out.println("Velocity is " + velocity.refresh().toString());

  • Constructor Details

    • CoreCANcoder

      public CoreCANcoder​(int deviceId)
      Constructs a new CANcoder object.

      Constructs the device using the default CAN bus for the system:

      • "rio" on roboRIO
      • "can0" on Linux
      • "*" on Windows
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.

    • CoreCANcoder

      public CoreCANcoder​(int deviceId, 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

  • Method Details

    • getConfigurator

      public CANcoderConfigurator getConfigurator()
      Gets the configurator to use with this device's configs
      Returns:
      Configurator for this object

    • getSimState

      public CANcoderSimState getSimState()
      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

    • getVersionMajor

      public StatusSignal<Integer> getVersionMajor()
      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.
      Returns:
      VersionMajor Status Signal Object

    • getVersionMinor

      public StatusSignal<Integer> getVersionMinor()
      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.
      Returns:
      VersionMinor Status Signal Object

    • getVersionBugfix

      public StatusSignal<Integer> getVersionBugfix()
      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.
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBuild

      public StatusSignal<Integer> getVersionBuild()
      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.
      Returns:
      VersionBuild Status Signal Object

    • getVersion

      public StatusSignal<Integer> getVersion()
      Full Version. The format is a four byte value.

      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.
      Returns:
      Version Status Signal Object

    • getFaultField

      public StatusSignal<Integer> getFaultField()
      Integer representing all faults

      This returns the 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: 16777215
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      FaultField Status Signal Object

    • getStickyFaultField

      public StatusSignal<Integer> getStickyFaultField()
      Integer representing all sticky faults

      This returns the 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: 16777215
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      StickyFaultField Status Signal Object

    • getVelocity

      public StatusSignal<Double> getVelocity()
      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.
      Returns:
      Velocity Status Signal Object

    • getPosition

      public StatusSignal<Double> getPosition()
      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.
      Returns:
      Position Status Signal Object

    • getAbsolutePosition

      public StatusSignal<Double> getAbsolutePosition()
      Absolute Position of the device. The possible range is documented below; however, the exact expected range is determined by the AbsoluteSensorRange. This position is only affected by the MagnetSensor configs.
      • Minimum Value: -0.5
      • 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.
      Returns:
      AbsolutePosition Status Signal Object

    • getUnfilteredVelocity

      public StatusSignal<Double> getUnfilteredVelocity()
      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.
      Returns:
      UnfilteredVelocity Status Signal Object

    • getPositionSinceBoot

      public StatusSignal<Double> getPositionSinceBoot()
      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.
      Returns:
      PositionSinceBoot Status Signal Object

    • getSupplyVoltage

      public StatusSignal<Double> getSupplyVoltage()
      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.
      Returns:
      SupplyVoltage Status Signal Object

    • getMagnetHealth

      public StatusSignal<MagnetHealthValue> getMagnetHealth()
      Magnet health as measured by CANcoder.

      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.
      Returns:
      MagnetHealth Status Signal Object

    • getIsProLicensed

      public StatusSignal<Boolean> getIsProLicensed()
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      IsProLicensed Status Signal Object

    • getFault_Hardware

      public StatusSignal<Boolean> getFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      Fault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public StatusSignal<Boolean> getStickyFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      StickyFault_Hardware Status Signal Object

    • getFault_Undervoltage

      public StatusSignal<Boolean> getFault_Undervoltage()
      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.
      Returns:
      Fault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public StatusSignal<Boolean> getStickyFault_Undervoltage()
      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.
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getFault_BootDuringEnable

      public StatusSignal<Boolean> getFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public StatusSignal<Boolean> getStickyFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz
      This refreshes and returns a cached StatusSignal object.
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getFault_UnlicensedFeatureInUse()
      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.
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse()
      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.
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getFault_BadMagnet

      public StatusSignal<Boolean> getFault_BadMagnet()
      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.
      Returns:
      Fault_BadMagnet Status Signal Object

    • getStickyFault_BadMagnet

      public StatusSignal<Boolean> getStickyFault_BadMagnet()
      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.
      Returns:
      StickyFault_BadMagnet Status Signal Object

    • setControl

      public StatusCode setControl​(ControlRequest request)
      Control motor 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

      public StatusCode setPosition​(double newValue, double timeoutSeconds)
      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

    • setPosition

      public StatusCode setPosition​(double newValue)
      Sets the current position of the device.

      This will wait up to 0.050 seconds (50ms) by default.

      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public StatusCode clearStickyFaults​(double timeoutSeconds)
      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

    • clearStickyFaults

      public StatusCode clearStickyFaults()
      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 0.050 seconds (50ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware​(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

      This will wait up to 0.050 seconds (50ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public StatusCode clearStickyFault_Undervoltage​(double timeoutSeconds)
      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_Undervoltage

      public StatusCode clearStickyFault_Undervoltage()
      Clear sticky fault: Device supply voltage dropped to near brownout levels

      This will wait up to 0.050 seconds (50ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable​(double timeoutSeconds)
      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_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable()
      Clear sticky fault: Device boot while detecting the enable signal

      This will wait up to 0.050 seconds (50ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BadMagnet

      public StatusCode clearStickyFault_BadMagnet​(double timeoutSeconds)
      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_BadMagnet

      public StatusCode clearStickyFault_BadMagnet()
      Clear sticky fault: The magnet distance is not correct or magnet is missing

      This will wait up to 0.050 seconds (50ms) by default.

      Returns:
      StatusCode of the set command