Malefix/xyz.malefic.frc.pingu.encoder/Engu

Engu

class Engu(id: Int, device: String = "") : CANcoder

A generic CANcoder wrapper class that allows configuration of CANcoder sensors.

Make sure to configure the sensor after instantiation to apply desired settings.

Constructors

Engu

constructor(id: Int, device: String = "")

constructor(id: Int, canBus: CANBus)

Properties

absolutePosition

open val absolutePosition: StatusSignal<Angle?>?

appliedControl

open val appliedControl: ControlRequest?

configuration

lateinit var configuration: CANcoderConfiguration

Holds the last CANcoderConfiguration applied to this CANcoder. This property is updated whenever the configure method is called. It allows retrieval of the configuration settings for inspection or reuse.

configurator

open val configurator: CANcoderConfigurator?

deviceHash

open val deviceHash: Long

deviceID

open val deviceID: Int

fault_BadMagnet

open val fault_BadMagnet: StatusSignal<Boolean?>?

fault_BootDuringEnable

open val fault_BootDuringEnable: StatusSignal<Boolean?>?

fault_Hardware

open val fault_Hardware: StatusSignal<Boolean?>?

fault_Undervoltage

open val fault_Undervoltage: StatusSignal<Boolean?>?

fault_UnlicensedFeatureInUse

open val fault_UnlicensedFeatureInUse: StatusSignal<Boolean?>?

faultField

open val faultField: StatusSignal<Int?>?

isConnected

open val isConnected: Boolean

isProLicensed

open val isProLicensed: StatusSignal<Boolean?>?

magnetHealth

open val magnetHealth: StatusSignal<MagnetHealthValue?>?

network

open val network: String?

position

open val position: StatusSignal<Angle?>?

positionSinceBoot

open val positionSinceBoot: StatusSignal<Angle?>?

resetOccurredChecker

open val resetOccurredChecker: BooleanSupplier?

simState

open val simState: CANcoderSimState?

stickyFault_BadMagnet

open val stickyFault_BadMagnet: StatusSignal<Boolean?>?

stickyFault_BootDuringEnable

open val stickyFault_BootDuringEnable: StatusSignal<Boolean?>?

stickyFault_Hardware

open val stickyFault_Hardware: StatusSignal<Boolean?>?

stickyFault_Undervoltage

open val stickyFault_Undervoltage: StatusSignal<Boolean?>?

stickyFault_UnlicensedFeatureInUse

open val stickyFault_UnlicensedFeatureInUse: StatusSignal<Boolean?>?

stickyFaultField

open val stickyFaultField: StatusSignal<Int?>?

supplyVoltage

open val supplyVoltage: StatusSignal<Voltage?>?

unfilteredVelocity

open val unfilteredVelocity: StatusSignal<AngularVelocity?>?

velocity

open val velocity: StatusSignal<AngularVelocity?>?

version

open val version: StatusSignal<Int?>?

versionBugfix

open val versionBugfix: StatusSignal<Int?>?

versionBuild

open val versionBuild: StatusSignal<Int?>?

versionMajor

open val versionMajor: StatusSignal<Int?>?

versionMinor

open val versionMinor: StatusSignal<Int?>?

Functions

clearStickyFault_BadMagnet

open fun clearStickyFault_BadMagnet(): StatusCode?

open fun clearStickyFault_BadMagnet(timeoutSeconds: Double): StatusCode?

clearStickyFault_BootDuringEnable

open fun clearStickyFault_BootDuringEnable(): StatusCode?

open fun clearStickyFault_BootDuringEnable(timeoutSeconds: Double): StatusCode?

clearStickyFault_Hardware

open fun clearStickyFault_Hardware(): StatusCode?

open fun clearStickyFault_Hardware(timeoutSeconds: Double): StatusCode?

clearStickyFault_Undervoltage

open fun clearStickyFault_Undervoltage(): StatusCode?

open fun clearStickyFault_Undervoltage(timeoutSeconds: Double): StatusCode?

clearStickyFault_UnlicensedFeatureInUse

open fun clearStickyFault_UnlicensedFeatureInUse(): StatusCode?

open fun clearStickyFault_UnlicensedFeatureInUse(timeoutSeconds: Double): StatusCode?

clearStickyFaults

open fun clearStickyFaults(): StatusCode?

open fun clearStickyFaults(timeoutSeconds: Double): StatusCode?

open fun close()

configure

fun configure(block: CANcoderConfiguration.() -> Unit = {})

Configures the CANcoder using a DSL-style configuration block.

hasResetOccurred

open fun hasResetOccurred(): Boolean

initSendable

open fun initSendable(builder: SendableBuilder?)

optimizeBusUtilization

open fun optimizeBusUtilization(): StatusCode?

open fun ~~optimizeBusUtilization~~(timeoutSeconds: Double): StatusCode?

open fun optimizeBusUtilization(optimizedFreqHz: Double, timeoutSeconds: Double): StatusCode?

resetSignalFrequencies

open fun resetSignalFrequencies(): StatusCode?

open fun resetSignalFrequencies(timeoutSeconds: Double): StatusCode?

setControl

open fun setControl(request: ControlRequest?): StatusCode?

setPosition

open fun setPosition(newValue: Angle?): StatusCode?

open fun setPosition(newValue: Double): StatusCode?

open fun setPosition(newValue: Angle?, timeoutSeconds: Double): StatusCode?

open fun setPosition(newValue: Double, timeoutSeconds: Double): StatusCode?