Package com.ctre.phoenix6.configs

Class MagnetSensorConfigs

java.lang.Object
com.ctre.phoenix6.configs.MagnetSensorConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable, Cloneable
public class MagnetSensorConfigs extends Object implements ParentConfiguration, Cloneable
Configs that affect the magnet sensor and how to interpret it.

Includes sensor direction, the sensor discontinuity point, and the magnet offset.

  • 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

    • AbsoluteSensorDiscontinuityPoint

      public double AbsoluteSensorDiscontinuityPoint
      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).
      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations

  • Constructor Details

  • Method Details

    • withSensorDirection

      public final 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 final 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

    • withMagnetOffset

      public final MagnetSensorConfigs withMagnetOffset(Angle 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

    • getMagnetOffsetMeasure

      public final Angle getMagnetOffsetMeasure()
      Helper method to get this configuration's MagnetOffset parameter converted to a unit type. If not using the Java units library, MagnetOffset can be accessed directly instead.

      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
      Returns:
      MagnetOffset

    • withAbsoluteSensorDiscontinuityPoint

      public final MagnetSensorConfigs withAbsoluteSensorDiscontinuityPoint(double newAbsoluteSensorDiscontinuityPoint)
      Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Parameters:
      newAbsoluteSensorDiscontinuityPoint - Parameter to modify
      Returns:
      Itself

    • withAbsoluteSensorDiscontinuityPoint

      public final MagnetSensorConfigs withAbsoluteSensorDiscontinuityPoint(Angle newAbsoluteSensorDiscontinuityPoint)
      Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Parameters:
      newAbsoluteSensorDiscontinuityPoint - Parameter to modify
      Returns:
      Itself

    • getAbsoluteSensorDiscontinuityPointMeasure

      public final Angle getAbsoluteSensorDiscontinuityPointMeasure()
      Helper method to get this configuration's AbsoluteSensorDiscontinuityPoint parameter converted to a unit type. If not using the Java units library, AbsoluteSensorDiscontinuityPoint can be accessed directly instead.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Returns:
      AbsoluteSensorDiscontinuityPoint

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public final String serialize()
      Get the serialized form of this configuration group.
      Specified by:
      serialize in interface ISerializable
      Returns:
      Serialized form of this config group

    • deserialize

      public final StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration group.
      Specified by:
      deserialize in interface ParentConfiguration
      Returns:
      Return code of the deserialize method

    • clone

      public MagnetSensorConfigs clone()
      Overrides:
      clone in class Object