CANCoderConfiguration

class phoenix5.sensors.CANCoderConfiguration

Bases: CustomParamConfiguration

Configurables available to CANCoder

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Deprecated:

This device’s Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

Constructor

property absoluteSensorRange

Desired Sign / Range for the absolute position register. 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.

property initializationStrategy

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

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.

property magnetOffsetDegrees

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.

property sensorCoefficient

Scalar to multiply the CANCoder’s native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.

property sensorDirection

Choose which direction is interpreted as positive displacement. This affects both “Position”and “Absolute Position”. False(default) means positive rotation occurs when magnet is spun counter - clockwise when observer is facing the LED side of CANCoder.

property sensorTimeBase

Desired denominator to report velocity in. This impacts GetVelocityand the reported velocity in self-test in Tuner. Default is “Per Second”.

toString(prependString: str) → str

Parameters:

prependString – String to prepend to configs

Returns:

String representation of configs

property 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”

property velocityMeasurementPeriod

Velocity measurement period to use

property velocityMeasurementWindow

Velocity measurement window to use