Package com.ctre.phoenix6.hardware

Class CANcoder

java.lang.Object

com.ctre.phoenix6.jni.CtreJniWrapper

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CoreCANcoder

com.ctre.phoenix6.hardware.CANcoder

All Implemented Interfaces:

CommonDevice, Sendable, AutoCloseable

public class CANcoder
extends CoreCANcoder
implements Sendable, AutoCloseable

WPILib-integrated version of CoreCANcoder.

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenix6.hardware.ParentDevice

ParentDevice.MapGenerator

Field Summary

Fields inherited from class com.ctre.phoenix6.hardware.ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

Constructor	Description
CANcoder(int deviceId)	Constructs a new CANcoder object.
CANcoder(int deviceId, CANBus canbus)	Constructs a new CANcoder object.
CANcoder(int deviceId, String canbus)	Deprecated, for removal: This API element is subject to removal in a future version. Constructing devices with a CAN bus string is deprecated for removal in the 2027 season.

Method Summary

Modifier and Type	Method	Description
void	close()
void	initSendable(SendableBuilder builder)
static CANcoder	none()	Constructs a stubbed-out CANcoder, where all status signals, controls, configs, etc.

Methods inherited from class com.ctre.phoenix6.hardware.core.CoreCANcoder

clearStickyFault_BadMagnet, clearStickyFault_BadMagnet, clearStickyFault_BootDuringEnable, clearStickyFault_BootDuringEnable, clearStickyFault_Hardware, clearStickyFault_Hardware, clearStickyFault_Undervoltage, clearStickyFault_Undervoltage, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnlicensedFeatureInUse, clearStickyFaults, clearStickyFaults, getAbsolutePosition, getAbsolutePosition, getConfigurator, getFault_BadMagnet, getFault_BadMagnet, getFault_BootDuringEnable, getFault_BootDuringEnable, getFault_Hardware, getFault_Hardware, getFault_Undervoltage, getFault_Undervoltage, getFault_UnlicensedFeatureInUse, getFault_UnlicensedFeatureInUse, getFaultField, getFaultField, getIsProLicensed, getIsProLicensed, getMagnetHealth, getMagnetHealth, getPosition, getPosition, getPositionSinceBoot, getPositionSinceBoot, getSimState, getStickyFault_BadMagnet, getStickyFault_BadMagnet, getStickyFault_BootDuringEnable, getStickyFault_BootDuringEnable, getStickyFault_Hardware, getStickyFault_Hardware, getStickyFault_Undervoltage, getStickyFault_Undervoltage, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnlicensedFeatureInUse, getStickyFaultField, getStickyFaultField, getSupplyVoltage, getSupplyVoltage, getUnfilteredVelocity, getUnfilteredVelocity, getVelocity, getVelocity, getVersion, getVersion, getVersionBugfix, getVersionBugfix, getVersionBuild, getVersionBuild, getVersionMajor, getVersionMajor, getVersionMinor, getVersionMinor, setPosition, setPosition, setPosition, setPosition

Methods inherited from class com.ctre.phoenix6.hardware.ParentDevice

getAppliedControl, getDeviceHash, getDeviceID, getNetwork, getResetOccurredChecker, hasResetOccurred, isConnected, isConnected, lookupStatusSignal, lookupStatusSignal, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, resetSignalFrequencies, resetSignalFrequencies, resetSignalFrequenciesForAll, setControlPrivate

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

CANcoder

public CANcoder(int deviceId)

Constructs a new CANcoder object.

Constructs the device using the default CAN bus for the system (see CANBus()).

Parameters:

deviceId - ID of the device, as configured in Phoenix Tuner

CANcoder

@Deprecated(since="2026",
            forRemoval=true)
public CANcoder(int deviceId,
 String canbus)

Deprecated, for removal: This API element is subject to removal in a future version.

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

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

CANcoder

public 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

Method Details

none

public static CANcoder none()

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

close

public void close()

Specified by:

close in interface AutoCloseable

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable