Class CANcoderConfigurator

java.lang.Object
com.ctre.phoenix6.configs.ParentConfigurator
com.ctre.phoenix6.configs.CANcoderConfigurator
public class CANcoderConfigurator extends ParentConfigurator
Handles applying and refreshing configurations for the CANcoder.

  • Constructor Details

    • CANcoderConfigurator

      public CANcoderConfigurator(DeviceIdentifier id)
      Constructs a configurator for the CANcoder. Users should call getConfigurator() on the device instead.
      Parameters:
      id - Device identifier of the CANcoder

  • Method Details

    • apply

      public final StatusCode apply(CANcoderConfiguration configs)
      Applies the contents of the specified config to the device.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      Call to apply the selected configs.

      Parameters:
      configs - Configs to apply against.
      Returns:
      Status code of applying the configs

    • apply

      public final StatusCode apply(CANcoderConfiguration configs, double timeoutSeconds)
      Applies the contents of the specified config to the device.

      Call to apply the selected configs.

      Parameters:
      configs - Configs to apply against.
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status code of applying the configs

    • apply

      public final StatusCode apply(MagnetSensorConfigs configs)
      Applies the contents of the specified config to the device.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      Call to apply the selected configs.

      Parameters:
      configs - Configs to apply against.
      Returns:
      Status code of applying the configs

    • apply

      public final StatusCode apply(MagnetSensorConfigs configs, double timeoutSeconds)
      Applies the contents of the specified config to the device.

      Call to apply the selected configs.

      Parameters:
      configs - Configs to apply against.
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status code of applying the configs

    • apply

      public final StatusCode apply(CustomParamsConfigs configs)
      Applies the contents of the specified config to the device.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      Call to apply the selected configs.

      Parameters:
      configs - Configs to apply against.
      Returns:
      Status code of applying the configs

    • apply

      public final StatusCode apply(CustomParamsConfigs configs, double timeoutSeconds)
      Applies the contents of the specified config to the device.

      Call to apply the selected configs.

      Parameters:
      configs - Configs to apply against.
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status code of applying the configs

    • refresh

      public final StatusCode refresh(CANcoderConfiguration configs)
      Refreshes the values of the specified config group.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      Call to refresh the selected configs from the device.

      Parameters:
      configs - The configs to refresh
      Returns:
      Status code of refreshing the configs

    • refresh

      public final StatusCode refresh(CANcoderConfiguration configs, double timeoutSeconds)
      Refreshes the values of the specified config group.

      Call to refresh the selected configs from the device.

      Parameters:
      configs - The configs to refresh
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status code of refreshing the configs

    • refresh

      public final StatusCode refresh(MagnetSensorConfigs configs)
      Refreshes the values of the specified config group.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      Call to refresh the selected configs from the device.

      Parameters:
      configs - The configs to refresh
      Returns:
      Status code of refreshing the configs

    • refresh

      public final StatusCode refresh(MagnetSensorConfigs configs, double timeoutSeconds)
      Refreshes the values of the specified config group.

      Call to refresh the selected configs from the device.

      Parameters:
      configs - The configs to refresh
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status code of refreshing the configs

    • refresh

      public final StatusCode refresh(CustomParamsConfigs configs)
      Refreshes the values of the specified config group.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      Call to refresh the selected configs from the device.

      Parameters:
      configs - The configs to refresh
      Returns:
      Status code of refreshing the configs

    • refresh

      public final StatusCode refresh(CustomParamsConfigs configs, double timeoutSeconds)
      Refreshes the values of the specified config group.

      Call to refresh the selected configs from the device.

      Parameters:
      configs - The configs to refresh
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status code of refreshing the configs

    • setPosition

      public final StatusCode setPosition(double newValue)
      Sets the current position of the device.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • setPosition

      public final StatusCode setPosition(double newValue, double timeoutSeconds)
      Sets the current position of the device.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      newValue - Value to set to. Units are in rotations.
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • setPosition

      public final StatusCode setPosition(Angle newValue)
      Sets the current position of the device.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • setPosition

      public final StatusCode setPosition(Angle newValue, double timeoutSeconds)
      Sets the current position of the device.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      newValue - Value to set to. Units are in rotations.
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public final StatusCode clearStickyFaults()
      Clear the sticky faults in the device.

      This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public final StatusCode clearStickyFaults(double timeoutSeconds)
      Clear the sticky faults in the device.

      This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public final StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public final StatusCode clearStickyFault_Hardware(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public final StatusCode clearStickyFault_Undervoltage()
      Clear sticky fault: Device supply voltage dropped to near brownout levels

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public final StatusCode clearStickyFault_Undervoltage(double timeoutSeconds)
      Clear sticky fault: Device supply voltage dropped to near brownout levels

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public final StatusCode clearStickyFault_BootDuringEnable()
      Clear sticky fault: Device boot while detecting the enable signal

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public final StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds)
      Clear sticky fault: Device boot while detecting the enable signal

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public final StatusCode clearStickyFault_UnlicensedFeatureInUse()
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public final StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BadMagnet

      public final StatusCode clearStickyFault_BadMagnet()
      Clear sticky fault: The magnet distance is not correct or magnet is missing

      This will wait up to ParentConfigurator.DefaultTimeoutSeconds.

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BadMagnet

      public final StatusCode clearStickyFault_BadMagnet(double timeoutSeconds)
      Clear sticky fault: The magnet distance is not correct or magnet is missing

      This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command