Class CANcoderConfiguration

java.lang.Object

com.ctre.phoenix6.configs.CANcoderConfiguration

All Implemented Interfaces:

ParentConfiguration, Cloneable

public class CANcoderConfiguration
extends Object
implements ParentConfiguration, Cloneable

All configurations for the CANcoder.

Field Summary

Fields

Modifier and Type	Field	Description
CustomParamsConfigs	CustomParams	Custom Params.
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
MagnetSensorConfigs	MagnetSensor	Configs that affect the magnet sensor and how to interpret it.

Constructor Summary

Constructors

Constructor	Description
CANcoderConfiguration()

Method Summary

Modifier and Type	Method	Description
CANcoderConfiguration	clone()
final StatusCode	deserialize(String to_deserialize)	Take a string and deserialize it to this configuration.
final String	serialize()	Get the serialized form of this configuration.
String	toString()
final CANcoderConfiguration	withCustomParams(CustomParamsConfigs newCustomParams)	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
final CANcoderConfiguration	withMagnetSensor(MagnetSensorConfigs newMagnetSensor)	Modifies this configuration's MagnetSensor parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class Object

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

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

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.

MagnetSensor

public MagnetSensorConfigs MagnetSensor

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

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

Parameter list:

• MagnetSensorConfigs.SensorDirection
• MagnetSensorConfigs.MagnetOffset
• MagnetSensorConfigs.AbsoluteSensorDiscontinuityPoint

CustomParams

public CustomParamsConfigs CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Constructor Details

CANcoderConfiguration

public CANcoderConfiguration()

Method Details

withMagnetSensor

public final CANcoderConfiguration withMagnetSensor(MagnetSensorConfigs newMagnetSensor)

Modifies this configuration's MagnetSensor 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 direction, the sensor discontinuity point, and the magnet offset.

Parameter list:

• MagnetSensorConfigs.SensorDirection
• MagnetSensorConfigs.MagnetOffset
• MagnetSensorConfigs.AbsoluteSensorDiscontinuityPoint

Parameters:

newMagnetSensor - Parameter to modify

Returns:

Itself

withCustomParams

public final CANcoderConfiguration withCustomParams(CustomParamsConfigs newCustomParams)

Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Parameters:

newCustomParams - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

serialize

public final String serialize()

Get the serialized form of this configuration.

Specified by:

serialize in interface ParentConfiguration

Returns:

Serialized form of this config group

deserialize

public final StatusCode deserialize(String to_deserialize)

Take a string and deserialize it to this configuration.

Specified by:

deserialize in interface ParentConfiguration

Parameters:

to_deserialize - The serialized configuration

Returns:

Return code of the deserialize method

clone

public CANcoderConfiguration clone()

Overrides:

clone in class Object