phoenix6.configs.cancoder_configs#

Module Contents#

class phoenix6.configs.cancoder_configs.CANcoderConfiguration#

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

This handles the configurations for CANcoder

future_proof_configs: bool = True#

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.

magnet_sensor: MagnetSensorConfigs#

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

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

with_magnet_sensor(new_magnet_sensor: MagnetSensorConfigs) → CANcoderConfiguration#

Modifies this configuration’s magnet_sensor 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:

new_magnet_sensor (MagnetSensorConfigs) – Parameter to modify

Returns:

Itself

Return type:

CANcoderConfiguration

serialize() → str#

Get the serialized form of this configuration

Returns:

Serialized form of this config group

Return type:

str

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode#

Take a string and deserialize it to this configuration

Returns:

Return code of the deserialize method

Return type:

str

class phoenix6.configs.cancoder_configs.CANcoderConfigurator(id: phoenix6.hardware.device_identifier.DeviceIdentifier)#

Bases: phoenix6.configs.parent_configurator.ParentConfigurator

  • Class for CANcoder, a CAN based magnetic encoder that provides absolute and

  • relative position along with filtered velocity.

    This handles the configurations for CANcoder

refresh(configs: SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

Parameters:

  • configs (name) – The configs to refresh

  • timeout_seconds (second) – Maximum amount of time to wait when performing configuration

Returns:

StatusCode of refreshing the configs

Return type:

StatusCode

apply(configs: SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Applies the contents of the specified config to the device.

Call to apply the selected configs.

Parameters:

  • configs (SupportsSerialization) – Configs to apply

  • timeout_seconds (second) – Maximum amount of time to wait when performing configuration

Returns:

StatusCode of the apply method

Return type:

StatusCode

set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Sets the current position of the device.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

  • new_value (rotation) – Value to set to. Units are in rotations.

  • timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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 is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Hardware fault occurred

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Device boot while detecting the enable signal

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bad_magnet(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode