Inherited by com.ctre.phoenix.sensors.WPI_CANCoder.

Public Member Functions
	CANCoder (int deviceNumber, String canbus)

	CANCoder (int deviceNumber)

ErrorCode	DestroyObject ()

int	getDeviceID ()

CANCoderSimCollection	getSimCollection ()

double	getPosition ()

ErrorCode	setPosition (double newPosition, int timeoutMs)

ErrorCode	setPosition (double newPosition)

ErrorCode	setPositionToAbsolute (int timeoutMs)

ErrorCode	setPositionToAbsolute ()

double	getVelocity ()

double	getAbsolutePosition ()

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize)

ErrorCode	configAbsoluteSensorRange (AbsoluteSensorRange absoluteSensorRange, int timeoutMs)

ErrorCode	configAbsoluteSensorRange (AbsoluteSensorRange absoluteSensorRange)

ErrorCode	configMagnetOffset (double offsetDegrees, int timeoutMs)

ErrorCode	configMagnetOffset (double offsetDegrees)

ErrorCode	configSensorInitializationStrategy (SensorInitializationStrategy initializationStrategy, int timeoutMs)

ErrorCode	configSensorInitializationStrategy (SensorInitializationStrategy initializationStrategy)

ErrorCode	configFeedbackCoefficient (double sensorCoefficient, String unitString, SensorTimeBase sensorTimeBase, int timeoutMs)

ErrorCode	configFeedbackCoefficient (double sensorCoefficient, String unitString, SensorTimeBase sensorTimeBase)

double	getBusVoltage ()

MagnetFieldStrength	getMagnetFieldStrength ()

ErrorCode	configSensorDirection (boolean bSensorDirection, int timeoutMs)

ErrorCode	configSensorDirection (boolean bSensorDirection)

ErrorCode	getLastError ()

String	getLastUnitString ()

double	getLastTimestamp ()

ErrorCode	configSetCustomParam (int newValue, int paramIndex, int timeoutMs)

ErrorCode	configSetCustomParam (int newValue, int paramIndex)

int	configGetCustomParam (int paramIndex, int timeoutMs)

int	configGetCustomParam (int paramIndex)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal)

double	configGetParameter (ParamEnum param, int ordinal, int timeoutMs)

double	configGetParameter (ParamEnum param, int ordinal)

ErrorCode	setStatusFramePeriod (CANCoderStatusFrame statusFrame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (CANCoderStatusFrame statusFrame, int periodMs)

int	getStatusFramePeriod (CANCoderStatusFrame frame, int timeoutMs)

int	getStatusFramePeriod (CANCoderStatusFrame frame)

int	getFirmwareVersion ()

boolean	hasResetOccurred ()

ErrorCode	getFaults (CANCoderFaults toFill)

ErrorCode	getStickyFaults (CANCoderStickyFaults toFill)

ErrorCode	clearStickyFaults (int timeoutMs)

ErrorCode	clearStickyFaults ()

SensorVelocityMeasPeriod	configGetVelocityMeasurementPeriod (int timeoutMs)

SensorVelocityMeasPeriod	configGetVelocityMeasurementPeriod ()

int	configGetVelocityMeasurementWindow (int timeoutMs)

int	configGetVelocityMeasurementWindow ()

AbsoluteSensorRange	configGetAbsoluteSensorRange (int timeoutMs)

AbsoluteSensorRange	configGetAbsoluteSensorRange ()

double	configGetMagnetOffset (int timeoutMs)

double	configGetMagnetOffset ()

boolean	configGetSensorDirection (int timeoutMs)

boolean	configGetSensorDirection ()

SensorInitializationStrategy	configGetSensorInitializationStrategy (int timeoutMs)

SensorInitializationStrategy	configGetSensorInitializationStrategy ()

double	configGetFeedbackCoefficient (int timeoutMs)

double	configGetFeedbackCoefficient ()

String	configGetFeedbackUnitString (int timeoutMs)

String	configGetFeedbackUnitString ()

SensorTimeBase	configGetFeedbackTimeBase (int timeoutMs)

SensorTimeBase	configGetFeedbackTimeBase ()

ErrorCode	configAllSettings (CANCoderConfiguration allConfigs, int timeoutMs)

ErrorCode	configAllSettings (CANCoderConfiguration allConfigs)

void	getAllConfigs (CANCoderConfiguration allConfigs, int timeoutMs)

void	getAllConfigs (CANCoderConfiguration allConfigs)

ErrorCode	configFactoryDefault (int timeoutMs)

ErrorCode	configFactoryDefault ()

Detailed Description

CTRE CANCoder.



// Example usage of a CANCoder

CANCoder cancoder = new CANCoder(0); // creates a new CANCoder with ID 0



CANCoderConfiguration config = new CANCoderConfiguration();

// set units of the CANCoder to radians, with velocity being radians per second

config.sensorCoefficient = 2 * Math.PI / 4096.0;

config.unitString = "rad";

config.sensorTimeBase = SensorTimeBase.PerSecond;

cancoder.configAllSettings(config);



System.out.println(cancoder.getPosition()); // prints the position of the CANCoder

System.out.println(cancoder.getVelocity()); // prints the velocity recorded by the CANCoder



ErrorCode error = cancoder.getLastError(); // gets the last error generated by the CANCoder

CANCoderFaults faults = new CANCoderFaults();

ErrorCode faultsError = cancoder.getFaults(faults); // fills faults with the current CANCoder faults; returns the last error generated



cancoder.setStatusFramePeriod(CANCoderStatusFrame.SensorData, 10); // changes the period of the sensor data frame to 10ms

Constructor & Destructor Documentation

◆ CANCoder() [1/2]

com.ctre.phoenix.sensors.CANCoder.CANCoder	(	int	deviceNumber,
		String	canbus
	)

inline

Constructor.

Parameters

deviceNumber	The CAN Device ID of the CANCoder.
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

◆ CANCoder() [2/2]

com.ctre.phoenix.sensors.CANCoder.CANCoder ( int deviceNumber )

inline

Constructor.

Parameters

deviceNumber The CAN Device ID of the CANCoder.

Member Function Documentation

◆ clearStickyFaults() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.clearStickyFaults ( )

inline

Clears the Sticky Faults

Returns: Error Code generated by function. 0 indicates no error.

◆ clearStickyFaults() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.clearStickyFaults ( int timeoutMs )

inline

Clears the Sticky Faults

Returns: Error Code generated by function. 0 indicates no error.

◆ configAbsoluteSensorRange() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configAbsoluteSensorRange ( AbsoluteSensorRange absoluteSensorRange )

inline

Sets the signage and range of the "Absolute Position" signal. Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...

Parameters

absoluteSensorRange Desired Sign/Range for the absolute position register.

Returns: Error Code generated by function. 0 indicates no error.

◆ configAbsoluteSensorRange() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configAbsoluteSensorRange	(	AbsoluteSensorRange	absoluteSensorRange,
		int	timeoutMs
	)

inline

Sets the signage and range of the "Absolute Position" signal. Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...

Parameters

absoluteSensorRange	Desired Sign/Range for the absolute position register.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configAllSettings ( CANCoderConfiguration allConfigs )

inline

Configures all persistent settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

Returns: Error Code generated by function. 0 indicates no error.

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configAllSettings	(	CANCoderConfiguration	allConfigs,
		int	timeoutMs
	)

inline

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configFactoryDefault() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configFactoryDefault ( )

inline

Configures all persistent settings to defaults.

Returns: Error Code generated by function. 0 indicates no error.

◆ configFactoryDefault() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configFactoryDefault ( int timeoutMs )

inline

Configures all persistent settings to defaults.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configFeedbackCoefficient() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configFeedbackCoefficient	(	double	sensorCoefficient,
		String	unitString,
		SensorTimeBase	sensorTimeBase
	)

inline

Choose what units you want the API to get/set. This also impacts the units displayed in Self-Test in Tuner. Depending on your mechanism, you may want to scale rotational units (deg, radians, rotations), or scale to a distance (inches, centimeters).

Parameters

sensorCoefficient	Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.
unitString	String holding the unit to report in. This impacts all routines (except for ConfigMagnetOffset) and the self-test in Tuner. The string value itself is arbitrary. The max number of letters will depend on firmware versioning, but generally CANCoder supports up to eight letters. However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit. Default is "deg"
sensorTimeBase	Desired denominator to report velocity in. This impacts GetVelocity and the reported velocity in self-test in Tuner. Default is "Per Second".

Returns: Error Code generated by function. 0 indicates no error.

◆ configFeedbackCoefficient() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configFeedbackCoefficient	(	double	sensorCoefficient,
		String	unitString,
		SensorTimeBase	sensorTimeBase,
		int	timeoutMs
	)

inline

Choose what units you want the API to get/set. This also impacts the units displayed in Self-Test in Tuner. Depending on your mechanism, you may want to scale rotational units (deg, radians, rotations), or scale to a distance (inches, centimeters).

Parameters

sensorCoefficient	Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.
unitString	String holding the unit to report in. This impacts all routines (except for ConfigMagnetOffset) and the self-test in Tuner. The string value itself is arbitrary. The max number of letters will depend on firmware versioning, but generally CANCoder supports up to eight letters. However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit. Default is "deg"
sensorTimeBase	Desired denominator to report velocity in. This impacts GetVelocity and the reported velocity in self-test in Tuner. Default is "Per Second".
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configGetAbsoluteSensorRange() [1/2]

AbsoluteSensorRange com.ctre.phoenix.sensors.CANCoder.configGetAbsoluteSensorRange ( )

inline

Returns: Read value of the config param.

◆ configGetAbsoluteSensorRange() [2/2]

AbsoluteSensorRange com.ctre.phoenix.sensors.CANCoder.configGetAbsoluteSensorRange ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetCustomParam() [1/2]

int com.ctre.phoenix.sensors.CANCoder.configGetCustomParam ( int paramIndex )

inline

Gets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex Index of custom parameter. [0-1]

Returns: Value of the custom param.

◆ configGetCustomParam() [2/2]

int com.ctre.phoenix.sensors.CANCoder.configGetCustomParam	(	int	paramIndex,
		int	timeoutMs
	)

inline

Gets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of the custom param.

◆ configGetFeedbackCoefficient() [1/2]

double com.ctre.phoenix.sensors.CANCoder.configGetFeedbackCoefficient ( )

inline

Returns: Read value of the config param.

◆ configGetFeedbackCoefficient() [2/2]

double com.ctre.phoenix.sensors.CANCoder.configGetFeedbackCoefficient ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetFeedbackTimeBase() [1/2]

SensorTimeBase com.ctre.phoenix.sensors.CANCoder.configGetFeedbackTimeBase ( )

inline

Returns: Read value of the config param.

◆ configGetFeedbackTimeBase() [2/2]

SensorTimeBase com.ctre.phoenix.sensors.CANCoder.configGetFeedbackTimeBase ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetFeedbackUnitString() [1/2]

String com.ctre.phoenix.sensors.CANCoder.configGetFeedbackUnitString ( )

inline

Returns: Read value of the config param.

◆ configGetFeedbackUnitString() [2/2]

String com.ctre.phoenix.sensors.CANCoder.configGetFeedbackUnitString ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetMagnetOffset() [1/2]

double com.ctre.phoenix.sensors.CANCoder.configGetMagnetOffset ( )

inline

Returns: Read value of the config param.

◆ configGetMagnetOffset() [2/2]

double com.ctre.phoenix.sensors.CANCoder.configGetMagnetOffset ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetParameter() [1/2]

double com.ctre.phoenix.sensors.CANCoder.configGetParameter	(	ParamEnum	param,
		int	ordinal
	)

inline

Gets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.

Returns: Value of parameter.

◆ configGetParameter() [2/2]

double com.ctre.phoenix.sensors.CANCoder.configGetParameter	(	ParamEnum	param,
		int	ordinal,
		int	timeoutMs
	)

inline

Gets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of parameter.

◆ configGetSensorDirection() [1/2]

boolean com.ctre.phoenix.sensors.CANCoder.configGetSensorDirection ( )

inline

Returns: Read value of the config param.

◆ configGetSensorDirection() [2/2]

boolean com.ctre.phoenix.sensors.CANCoder.configGetSensorDirection ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetSensorInitializationStrategy() [1/2]

SensorInitializationStrategy com.ctre.phoenix.sensors.CANCoder.configGetSensorInitializationStrategy ( )

inline

Returns: Read value of the config param.

◆ configGetSensorInitializationStrategy() [2/2]

SensorInitializationStrategy com.ctre.phoenix.sensors.CANCoder.configGetSensorInitializationStrategy ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetVelocityMeasurementPeriod() [1/2]

SensorVelocityMeasPeriod com.ctre.phoenix.sensors.CANCoder.configGetVelocityMeasurementPeriod ( )

inline

Returns: Read value of the config param.

◆ configGetVelocityMeasurementPeriod() [2/2]

SensorVelocityMeasPeriod com.ctre.phoenix.sensors.CANCoder.configGetVelocityMeasurementPeriod ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configGetVelocityMeasurementWindow() [1/2]

int com.ctre.phoenix.sensors.CANCoder.configGetVelocityMeasurementWindow ( )

inline

Returns: Read value of the config param.

◆ configGetVelocityMeasurementWindow() [2/2]

int com.ctre.phoenix.sensors.CANCoder.configGetVelocityMeasurementWindow ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: Read value of the config param.

◆ configMagnetOffset() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configMagnetOffset ( double offsetDegrees )

inline

Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

Parameters

offsetDegrees Offset in degrees (unit string and coefficient DO NOT apply for this config).

Returns: Error Code generated by function. 0 indicates no error.

◆ configMagnetOffset() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configMagnetOffset	(	double	offsetDegrees,
		int	timeoutMs
	)

inline

Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

Parameters

offsetDegrees	Offset in degrees (unit string and coefficient DO NOT apply for this config).
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSensorDirection() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSensorDirection ( boolean bSensorDirection )

inline

Choose which direction is interpreted as positive displacement. This affects both "Position" and "Absolute Position".

Parameters

bSensorDirection False (default) means positive rotation occurs when magnet is spun counter-clockwise when observer is facing the LED side of CANCoder.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSensorDirection() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSensorDirection	(	boolean	bSensorDirection,
		int	timeoutMs
	)

inline

Choose which direction is interpreted as positive displacement. This affects both "Position" and "Absolute Position".

Parameters

bSensorDirection	False (default) means positive rotation occurs when magnet is spun counter-clockwise when observer is facing the LED side of CANCoder.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSensorInitializationStrategy() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSensorInitializationStrategy ( SensorInitializationStrategy initializationStrategy )

inline

Pick the strategy on how to initialize the CANCoder's "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.

Parameters

initializationStrategy The sensor initialization strategy to use. This will impact the behavior the next time CANCoder boots up.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSensorInitializationStrategy() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSensorInitializationStrategy	(	SensorInitializationStrategy	initializationStrategy,
		int	timeoutMs
	)

inline

Pick the strategy on how to initialize the CANCoder's "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.

Parameters

initializationStrategy	The sensor initialization strategy to use. This will impact the behavior the next time CANCoder boots up.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSetCustomParam() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSetCustomParam	(	int	newValue,
		int	paramIndex
	)

inline

Sets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]

Returns: Error Code generated by function. 0 indicates no error.

◆ configSetCustomParam() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs
	)

inline

Sets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSetParameter() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal
	)

inline

Sets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.

Returns: Error Code generated by function. 0 indicates no error.

◆ configSetParameter() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

inline

Sets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementPeriod() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configVelocityMeasurementPeriod ( SensorVelocityMeasPeriod period )

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementPeriod() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configVelocityMeasurementPeriod	(	SensorVelocityMeasPeriod	period,
		int	timeoutMs
	)

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period	Desired period for the velocity measurement.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementWindow() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configVelocityMeasurementWindow ( int windowSize )

inline

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementWindow() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.configVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs
	)

inline

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ getAbsolutePosition()

double com.ctre.phoenix.sensors.CANCoder.getAbsolutePosition ( )

inline

Gets the absolute position of the sensor. The absolute position may be unsigned (for example: [0,360) deg), or signed (for example: [-180,+180) deg). This is determined by a configuration. The default selection is unsigned. The units are determined by the coefficient and unit-string configuration params, default is degrees. Note: this signal is not affected by calls to SetPosition().

Returns: The position of the sensor.

◆ getAllConfigs() [1/2]

void com.ctre.phoenix.sensors.CANCoder.getAllConfigs ( CANCoderConfiguration allConfigs )

inline

Gets all persistant settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

◆ getAllConfigs() [2/2]

void com.ctre.phoenix.sensors.CANCoder.getAllConfigs	(	CANCoderConfiguration	allConfigs,
		int	timeoutMs
	)

inline

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

◆ getBusVoltage()

double com.ctre.phoenix.sensors.CANCoder.getBusVoltage ( )

inline

Gets the bus voltage seen by the device.

Returns: The bus voltage value (in volts).

◆ getFaults()

ErrorCode com.ctre.phoenix.sensors.CANCoder.getFaults ( CANCoderFaults toFill )

inline

Gets the CANCoder fault status

Parameters

toFill Container for fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ getFirmwareVersion()

int com.ctre.phoenix.sensors.CANCoder.getFirmwareVersion ( )

inline

Gets the firmware version of the device.

Returns: Firmware version of device.

◆ getLastError()

ErrorCode com.ctre.phoenix.sensors.CANCoder.getLastError ( )

inline

Call GetLastError() generated by this object. Not all functions return an error code but can potentially report errors.

This function can be used to retrieve those error codes.

Returns: The last ErrorCode generated.

◆ getLastTimestamp()

double com.ctre.phoenix.sensors.CANCoder.getLastTimestamp ( )

inline

Get the timestamp of the CAN frame retrieved in the last called get routine.

◆ getLastUnitString()

String com.ctre.phoenix.sensors.CANCoder.getLastUnitString ( )

inline

Get the units for the signal retrieved in the last called get routine.

◆ getMagnetFieldStrength()

MagnetFieldStrength com.ctre.phoenix.sensors.CANCoder.getMagnetFieldStrength ( )

inline

Gets the magnet's health.

Returns: The magnet health code (red/orange/green).

◆ getPosition()

double com.ctre.phoenix.sensors.CANCoder.getPosition ( )

inline

Gets the position of the sensor. This may be relative or absolute depending on configuration. The units are determined by the coefficient and unit-string configuration params, default is degrees.

Returns: The position of the sensor.

◆ getSimCollection()

CANCoderSimCollection com.ctre.phoenix.sensors.CANCoder.getSimCollection ( )

inline

Returns: object that can set simulation inputs.

◆ getStatusFramePeriod() [1/2]

int com.ctre.phoenix.sensors.CANCoder.getStatusFramePeriod ( CANCoderStatusFrame frame )

inline

Gets the period of the given status frame.

Parameters

frame Frame to get the period of.

Returns: Period of the given status frame.

◆ getStatusFramePeriod() [2/2]

int com.ctre.phoenix.sensors.CANCoder.getStatusFramePeriod	(	CANCoderStatusFrame	frame,
		int	timeoutMs
	)

inline

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

◆ getStickyFaults()

ErrorCode com.ctre.phoenix.sensors.CANCoder.getStickyFaults ( CANCoderStickyFaults toFill )

inline

Gets the CANCoder sticky fault status

Parameters

toFill Container for sticky fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ getVelocity()

double com.ctre.phoenix.sensors.CANCoder.getVelocity ( )

inline

Gets the velocity of the sensor. The units are determined by the coefficient and unit-string configuration params, default is degrees per second.

Returns: The Velocity of the sensor.

◆ hasResetOccurred()

boolean com.ctre.phoenix.sensors.CANCoder.hasResetOccurred ( )

inline

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

◆ setPosition() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.setPosition ( double newPosition )

inline

Sets the position of the sensor. The units are determined by the coefficient and unit-string configuration params, default is degrees.

Parameters

newPosition

Returns: ErrorCode generated by function. 0 indicates no error.

◆ setPosition() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.setPosition	(	double	newPosition,
		int	timeoutMs
	)

inline

Sets the position of the sensor. The units are determined by the coefficient and unit-string configuration params, default is degrees.

Parameters

newPosition

Returns: ErrorCode generated by function. 0 indicates no error.

◆ setPositionToAbsolute() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.setPositionToAbsolute ( )

inline

Sets the position of the sensor to match the magnet's "Absolute Sensor". The units are determined by the coefficient and unit-string configuration params, default is degrees.

Returns: ErrorCode generated by function. 0 indicates no error.

◆ setPositionToAbsolute() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.setPositionToAbsolute ( int timeoutMs )

inline

Sets the position of the sensor to match the magnet's "Absolute Sensor". The units are determined by the coefficient and unit-string configuration params, default is degrees.

Returns: ErrorCode generated by function. 0 indicates no error.

◆ setStatusFramePeriod() [1/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.setStatusFramePeriod	(	CANCoderStatusFrame	statusFrame,
		int	periodMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

Returns: Error Code generated by function. 0 indicates no error.

◆ setStatusFramePeriod() [2/2]

ErrorCode com.ctre.phoenix.sensors.CANCoder.setStatusFramePeriod	(	CANCoderStatusFrame	statusFrame,
		int	periodMs,
		int	timeoutMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

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

Phoenix-api/java/src/main/java/com/ctre/phoenix/sensors/CANCoder.java

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CANCoder() [1/2]

◆ CANCoder() [2/2]

Member Function Documentation

◆ clearStickyFaults() [1/2]

◆ clearStickyFaults() [2/2]

◆ configAbsoluteSensorRange() [1/2]

◆ configAbsoluteSensorRange() [2/2]

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configFactoryDefault() [1/2]

◆ configFactoryDefault() [2/2]

◆ configFeedbackCoefficient() [1/2]

◆ configFeedbackCoefficient() [2/2]

◆ configGetAbsoluteSensorRange() [1/2]

◆ configGetAbsoluteSensorRange() [2/2]

◆ configGetCustomParam() [1/2]

◆ configGetCustomParam() [2/2]

◆ configGetFeedbackCoefficient() [1/2]

◆ configGetFeedbackCoefficient() [2/2]

◆ configGetFeedbackTimeBase() [1/2]

◆ configGetFeedbackTimeBase() [2/2]

◆ configGetFeedbackUnitString() [1/2]

◆ configGetFeedbackUnitString() [2/2]

◆ configGetMagnetOffset() [1/2]

◆ configGetMagnetOffset() [2/2]

◆ configGetParameter() [1/2]

◆ configGetParameter() [2/2]

◆ configGetSensorDirection() [1/2]

◆ configGetSensorDirection() [2/2]

◆ configGetSensorInitializationStrategy() [1/2]

◆ configGetSensorInitializationStrategy() [2/2]

◆ configGetVelocityMeasurementPeriod() [1/2]

◆ configGetVelocityMeasurementPeriod() [2/2]

◆ configGetVelocityMeasurementWindow() [1/2]

◆ configGetVelocityMeasurementWindow() [2/2]

◆ configMagnetOffset() [1/2]

◆ configMagnetOffset() [2/2]

◆ configSensorDirection() [1/2]

◆ configSensorDirection() [2/2]

◆ configSensorInitializationStrategy() [1/2]

◆ configSensorInitializationStrategy() [2/2]

◆ configSetCustomParam() [1/2]

◆ configSetCustomParam() [2/2]

◆ configSetParameter() [1/2]

◆ configSetParameter() [2/2]

◆ configVelocityMeasurementPeriod() [1/2]

◆ configVelocityMeasurementPeriod() [2/2]

◆ configVelocityMeasurementWindow() [1/2]

◆ configVelocityMeasurementWindow() [2/2]

◆ getAbsolutePosition()

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getBusVoltage()

◆ getFaults()

◆ getFirmwareVersion()

◆ getLastError()

◆ getLastTimestamp()

◆ getLastUnitString()

◆ getMagnetFieldStrength()

◆ getPosition()

◆ getSimCollection()

◆ getStatusFramePeriod() [1/2]

◆ getStatusFramePeriod() [2/2]

◆ getStickyFaults()

◆ getVelocity()

◆ hasResetOccurred()

◆ setPosition() [1/2]

◆ setPosition() [2/2]

◆ setPositionToAbsolute() [1/2]

◆ setPositionToAbsolute() [2/2]

◆ setStatusFramePeriod() [1/2]

◆ setStatusFramePeriod() [2/2]