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CANCoder

We use CANCoder as an absolute reference for arms and swerve modules, and to seed TalonFX position on boot.

CANcoder enc = new CANcoder(ArmConstants.sensorId, "rio");
double abs = enc.getAbsolutePosition().getValue(); // rotations
enc.setPosition(abs); // seed internal position

Tips

  • Set magnet offset in Tuner X
  • Log getAbsolutePosition() and the seeded motor position for sanity