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

#include <ctre/phoenix6/CANcoder.hpp>

Inheritance diagram for ctre::phoenix6::hardware::CANcoder:

Public Member Functions
	CANcoder (int deviceId, CANBus canbus={})
	Constructs a new CANcoder object.

	CANcoder (int deviceId, std::string canbus)
	Constructs a new CANcoder object.

	~CANcoder ()

void	InitSendable (wpi::SendableBuilder &builder) override

Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreCANcoder
	CoreCANcoder (int deviceId, CANBus canbus={})
	Constructs a new CANcoder object.

	CoreCANcoder (int deviceId, std::string canbus)
	Constructs a new CANcoder object.

configs::CANcoderConfigurator &	GetConfigurator ()
	Gets the configurator for this CANcoder.

configs::CANcoderConfigurator const &	GetConfigurator () const
	Gets the configurator for this CANcoder.

sim::CANcoderSimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetVelocity (bool refresh=true)
	Velocity of the device.

StatusSignal< units::angle::turn_t > &	GetPosition (bool refresh=true)
	Position of the device.

StatusSignal< units::angle::turn_t > &	GetAbsolutePosition (bool refresh=true)
	Absolute Position of the device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetUnfilteredVelocity (bool refresh=true)
	The unfiltered velocity reported by CANcoder.

StatusSignal< units::angle::turn_t > &	GetPositionSinceBoot (bool refresh=true)
	The relative position reported by the CANcoder since boot.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the CANcoder.

StatusSignal< signals::MagnetHealthValue > &	GetMagnetHealth (bool refresh=true)
	Magnet health as measured by CANcoder.

StatusSignal< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_BadMagnet (bool refresh=true)
	The magnet distance is not correct or magnet is missing.

StatusSignal< bool > &	GetStickyFault_BadMagnet (bool refresh=true)
	The magnet distance is not correct or magnet is missing.

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
	Sets the current position of the device.

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue)
	Sets the current position of the device.

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse ()
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_BadMagnet (units::time::second_t timeoutSeconds)
	Clear sticky fault: The magnet distance is not correct or magnet is missing.

ctre::phoenix::StatusCode	ClearStickyFault_BadMagnet ()
	Clear sticky fault: The magnet distance is not correct or magnet is missing.

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, CANBus canbus)

virtual	~ParentDevice ()=0

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const final

CANBus	GetNetwork () const final

uint64_t	GetDeviceHash () const final
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< controls::ControlRequest const >	GetAppliedControl () const final
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl () final
	Get the latest applied control.

bool	HasResetOccurred () final

std::function< bool()>	GetResetOccurredChecker () const final

bool	IsConnected (units::second_t maxLatencySeconds=500_ms) final
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms) final
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms) final
	Resets the update frequencies of all the device's status signals to the defaults.

Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice
virtual	~CommonDevice ()=default

Static Public Member Functions
static CANcoder	None ()
	Constructs a stubbed-out CANcoder, where all status signals, controls, configs, etc.

Static Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreCANcoder
static CoreCANcoder	None ()
	Constructs a stubbed-out CoreCANcoder, where all status signals, controls, configs, etc.

Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (std::span< traits::CommonDevice *const > devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Additional Inherited Members
Public Types inherited from ctre::phoenix6::hardware::core::CoreCANcoder
using	Configuration = configs::CANcoderConfiguration
	The configuration class for this device.

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest const &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, std::function< std::map< uint16_t, std::string >()> mapFiller, bool reportOnConstruction, bool refresh)

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr controls::EmptyControl	_emptyControl {}

Detailed Description

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

Constructor & Destructor Documentation

◆ CANcoder() [1/2]

ctre::phoenix6::hardware::CANcoder::CANcoder	(	int	deviceId,
		CANBus	canbus = {} )

Constructs a new CANcoder object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner
canbus	The CAN bus this device is on

◆ CANcoder() [2/2]

ctre::phoenix6::hardware::CANcoder::CANcoder	(	int	deviceId,
		std::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

Deprecated: Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.

◆ ~CANcoder()

ctre::phoenix6::hardware::CANcoder::~CANcoder ( )

Member Function Documentation

◆ InitSendable()

void ctre::phoenix6::hardware::CANcoder::InitSendable ( wpi::SendableBuilder & builder )

override

◆ None()

static CANcoder ctre::phoenix6::hardware::CANcoder::None ( )

inlinestatic

Constructs a stubbed-out CANcoder, where all status signals, controls, configs, etc.

perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.

Returns: Stubbed-out CANcoder

The documentation for this class was generated from the following file:

ctre/phoenix6/CANcoder.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members