:py:mod:`phoenix6.hardware.cancoder`
====================================

.. py:module:: phoenix6.hardware.cancoder

Module Contents
---------------


.. py:class:: CANcoder(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')


   Bases: :py:obj:`phoenix6.hardware.core.core_cancoder.CoreCANcoder`, :py:obj:`wpiutil.Sendable`

   Constructs a new CANcoder object.

   :param device_id: ID of the device, as configured in Phoenix Tuner.
   :type device_id: int
   :param 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

   :type canbus: str | CANBus, optional

   .. py:method:: close()


   .. py:method:: initSendable(builder: wpiutil.SendableBuilder)

      Initializes this Sendable object.

      :param builder: sendable builder