CANCoder
Image Credit: CTRE Electronics
The CANCoder is a magnetic encoder that can use the CAN Bus to communicate to the rest of the robot. Being a magnetic encoder, it will always know the exact position that it is in upon power up. So it won't reset to zero like a standard rotary encoder would, These come both wired and not wired configurations. All the ones our team currently has are wired. However we have had cases of the wires breaking off and needed to be reattached.
| LED Color | LED Brightness | CAN Bus detection | Magnet Field Strength | Description |
|---|---|---|---|---|
| Off | Off | CANCoder is not powered | ||
| Yellow/Green | Bright | Device is in boot-loader. See user manual for more information. | ||
| Slow Red Blink | Bright | CAN bus has been lost | ||
| Rapid Red Blink | Dim | CAN bus never detected since boot | Magnet is out of range (<25mT or >135mT) | |
| Rapid Yellow Blink | Magnet in range with slightly reduced accuracy (25-45mT or 75-135mT) | |||
| Rapid Green Blink | Magnet in range (between 45mT - 75mT) | |||
| Rapid Red Blink | Bright | CAN bus present | Magnet is out of range (<25mT or >135mT) | |
| Rapid Yellow Blink | Magnet in range with slightly reduced accuracy (25-45mT or 75-135mT) | |||
| Rapid Green Blink | Magnet in range (between 45mT - 75mT) |
Credit:
WPILib Docs
WPILib GitHub