Package frc.spectrumLib.hardware

Class SpectrumCANcoder

java.lang.Object

frc.spectrumLib.hardware.SpectrumCANcoder

public class SpectrumCANcoder
extends Object

Wraps a CTRE CANcoder and applies Spectrum-specific configuration. On construction the encoder is configured and the supplied TalonFX motor's feedback source is updated to use it.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SpectrumCANcoder.CANCoderFeedbackType	Selects how the TalonFX reads position data from the remote CANcoder.

Constructor Summary

Constructors

Constructor	Description
SpectrumCANcoder(int CANcoderID, SpectrumCANcoderConfig config, TalonFX motor, Mechanism.Config mechConfig, SpectrumCANcoder.CANCoderFeedbackType feedbackSource)	Creates and configures a SpectrumCANcoder, then updates the motor's feedback configuration.

Method Summary

Modifier and Type	Method	Description
boolean	canCoderResponseOK(StatusCode response)	Checks whether a CANcoder configuration response indicates success.
CANcoder	getCanCoder()	The underlying CTRE CANcoder hardware object.
boolean	isAttached()	Returns whether this CANcoder is configured as physically present on the robot.
SpectrumCANcoder	modifyMotorConfig(TalonFX motor, Mechanism.Config mechConfig)	Updates the TalonFX feedback configuration to reference this CANcoder using the chosen feedback source type and the ratios defined in the config.

Methods inherited from class java.lang.Object

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

Constructor Details

SpectrumCANcoder

public SpectrumCANcoder(int CANcoderID,
 SpectrumCANcoderConfig config,
 TalonFX motor,
 Mechanism.Config mechConfig,
 SpectrumCANcoder.CANCoderFeedbackType feedbackSource)

Creates and configures a SpectrumCANcoder, then updates the motor's feedback configuration.

Parameters:

CANcoderID - CAN device ID of the CANcoder

config - Configuration object containing offset, inversion, and ratio values

motor - The TalonFX whose feedback configuration will be updated

mechConfig - The mechanism configuration that holds the TalonFX config to modify

feedbackSource - How the TalonFX should read data from this CANcoder

Method Details

isAttached

public boolean isAttached()

Returns whether this CANcoder is configured as physically present on the robot.

Returns:

true if the CANcoder is attached

modifyMotorConfig

public SpectrumCANcoder modifyMotorConfig(TalonFX motor,
 Mechanism.Config mechConfig)

Updates the TalonFX feedback configuration to reference this CANcoder using the chosen feedback source type and the ratios defined in the config.

Parameters:

motor - The TalonFX motor to reconfigure

mechConfig - The mechanism configuration whose stored TalonFX config is modified in place

Returns:

this instance, for chaining

canCoderResponseOK

public boolean canCoderResponseOK(StatusCode response)

Checks whether a CANcoder configuration response indicates success. Prints a warning via Telemetry if the response is not OK.

Parameters:

response - The StatusCode returned by the CANcoder configurator

Returns:

true if the response is OK, false otherwise

getCanCoder

public CANcoder getCanCoder()

The underlying CTRE CANcoder hardware object.