Class CANcoder

java.lang.Object

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CoreCANcoder

com.ctre.phoenix6.hardware.CANcoder

All Implemented Interfaces:

PhoenixAlertable, CommonDevice, AutoCloseable, TelemetryLoggable

public class CANcoder
extends CoreCANcoder
implements AutoCloseable, TelemetryLoggable

WPILib-integrated version of CoreCANcoder.

Nested Class Summary

Nested classes/interfaces inherited from class ParentDevice

ParentDevice.MapGenerator

Field Summary

Fields inherited from class ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

Constructor	Description
CANcoder(int deviceId, CANBus canbus)	Constructs a new CANcoder object.

Method Summary

Modifier and Type	Method	Description
void	close()
String	getTelemetryType()	Gets the telemetry table type.
void	logTo(TelemetryTable table)	Logs the object to a TelemetryTable.
static CANcoder	none()	Constructs a stubbed-out CANcoder, where all status signals, controls, configs, etc.

Methods inherited from class 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, registerAlerts, setPosition, setPosition, setPosition, setPosition

Methods inherited from class ParentDevice

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

Methods inherited from class Object

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

Constructor Details

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

logTo

public void logTo(TelemetryTable table)

Logs the object to a TelemetryTable.

Specified by:

logTo in interface TelemetryLoggable

Parameters:

table - telemetry table

getTelemetryType

public String getTelemetryType()

Gets the telemetry table type.

Specified by:

getTelemetryType in interface TelemetryLoggable

Returns:

Table type