WPI_CANCoder

class phoenix5.sensors.WPI_CANCoder(deviceNumber: int, canbus: str = '')

Bases: CANCoder, Sendable

CTRE 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.

Construtor for CANCoder.

Parameters:

• deviceNumber – CAN Device ID of the CANCoder.

• canbus – Name of the CANbus; can be a CANivore device name or serial number. Pass in nothing or “rio” to use the roboRIO.

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None