Class CANdiConfiguration

java.lang.Object

com.ctre.phoenix6.configs.CANdiConfiguration

All Implemented Interfaces:

ParentConfiguration, Cloneable

public class CANdiConfiguration
extends Object
implements ParentConfiguration, Cloneable

All configurations for the CANdi.

Field Summary

Fields

Modifier and Type	Field	Description
CustomParamsConfigs	CustomParams	Custom Params.
DigitalInputsConfigs	DigitalInputs	Configs related to the CANdi™ branded device's digital I/O settings
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
PWM1Configs	PWM1	Configs related to the CANdi™ branded device's PWM interface on the Signal 1 input (S1IN)
PWM2Configs	PWM2	Configs related to the CANdi™ branded device's PWM interface on the Signal 2 input (S2IN)
QuadratureConfigs	Quadrature	Configs related to the CANdi™ branded device's quadrature interface using both the S1IN and S2IN inputs

Constructor Summary

Constructors

Constructor	Description
CANdiConfiguration()

Method Summary

Modifier and Type	Method	Description
CANdiConfiguration	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 CANdiConfiguration	withCustomParams(CustomParamsConfigs newCustomParams)	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
final CANdiConfiguration	withDigitalInputs(DigitalInputsConfigs newDigitalInputs)	Modifies this configuration's DigitalInputs parameter and returns itself for method-chaining and easier to use config API.
final CANdiConfiguration	withPWM1(PWM1Configs newPWM1)	Modifies this configuration's PWM1 parameter and returns itself for method-chaining and easier to use config API.
final CANdiConfiguration	withPWM2(PWM2Configs newPWM2)	Modifies this configuration's PWM2 parameter and returns itself for method-chaining and easier to use config API.
final CANdiConfiguration	withQuadrature(QuadratureConfigs newQuadrature)	Modifies this configuration's Quadrature 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.

CustomParams

public CustomParamsConfigs CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

DigitalInputs

public DigitalInputsConfigs DigitalInputs

Configs related to the CANdi™ branded device's digital I/O settings

Contains float-state settings and when to assert the S1/S2 inputs.

Parameter list:

• DigitalInputsConfigs.S1FloatState
• DigitalInputsConfigs.S2FloatState
• DigitalInputsConfigs.S1CloseState
• DigitalInputsConfigs.S2CloseState

Quadrature

public QuadratureConfigs Quadrature

Configs related to the CANdi™ branded device's quadrature interface using both the S1IN and S2IN inputs

All the configs related to the quadrature interface for the CANdi™ branded device , including encoder edges per revolution and sensor direction.

Parameter list:

• QuadratureConfigs.QuadratureEdgesPerRotation
• QuadratureConfigs.SensorDirection

PWM1

public PWM1Configs PWM1

Configs related to the CANdi™ branded device's PWM interface on the Signal 1 input (S1IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list:

• PWM1Configs.AbsoluteSensorOffset
• PWM1Configs.AbsoluteSensorDiscontinuityPoint
• PWM1Configs.SensorDirection

PWM2

public PWM2Configs PWM2

Configs related to the CANdi™ branded device's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list:

• PWM2Configs.AbsoluteSensorOffset
• PWM2Configs.AbsoluteSensorDiscontinuityPoint
• PWM2Configs.SensorDirection

Constructor Details

CANdiConfiguration

public CANdiConfiguration()

Method Details

withCustomParams

public final CANdiConfiguration 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

withDigitalInputs

public final CANdiConfiguration withDigitalInputs(DigitalInputsConfigs newDigitalInputs)

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

Configs related to the CANdi™ branded device's digital I/O settings

Contains float-state settings and when to assert the S1/S2 inputs.

Parameter list:

• DigitalInputsConfigs.S1FloatState
• DigitalInputsConfigs.S2FloatState
• DigitalInputsConfigs.S1CloseState
• DigitalInputsConfigs.S2CloseState

Parameters:

newDigitalInputs - Parameter to modify

Returns:

Itself

withQuadrature

public final CANdiConfiguration withQuadrature(QuadratureConfigs newQuadrature)

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

Configs related to the CANdi™ branded device's quadrature interface using both the S1IN and S2IN inputs

All the configs related to the quadrature interface for the CANdi™ branded device , including encoder edges per revolution and sensor direction.

Parameter list:

• QuadratureConfigs.QuadratureEdgesPerRotation
• QuadratureConfigs.SensorDirection

Parameters:

newQuadrature - Parameter to modify

Returns:

Itself

withPWM1

public final CANdiConfiguration withPWM1(PWM1Configs newPWM1)

Modifies this configuration's PWM1 parameter and returns itself for method-chaining and easier to use config API.

Configs related to the CANdi™ branded device's PWM interface on the Signal 1 input (S1IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list:

• PWM1Configs.AbsoluteSensorOffset
• PWM1Configs.AbsoluteSensorDiscontinuityPoint
• PWM1Configs.SensorDirection

Parameters:

newPWM1 - Parameter to modify

Returns:

Itself

withPWM2

public final CANdiConfiguration withPWM2(PWM2Configs newPWM2)

Modifies this configuration's PWM2 parameter and returns itself for method-chaining and easier to use config API.

Configs related to the CANdi™ branded device's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Parameter list:

• PWM2Configs.AbsoluteSensorOffset
• PWM2Configs.AbsoluteSensorDiscontinuityPoint
• PWM2Configs.SensorDirection

Parameters:

newPWM2 - 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 CANdiConfiguration clone()

Overrides:

clone in class Object