Add device specific config docs

source/docs/api-reference/api-usage/configuration.rst

@@ -8,8 +8,7 @@ Devices support persistent settings through the use of "configs".
 Configuration Objects
 ---------------------
 
-There are device-specific ``Configuration`` classes that group configuration data of devices in a meaningful way.
-These classes are `Passive Data Structures <https://en.wikipedia.org/wiki/Passive_data_structure>`__.
+There are device-specific ``Configuration`` classes that group configuration data of devices in a meaningful way. These classes are `Passive Data Structures <https://en.wikipedia.org/wiki/Passive_data_structure>`__.
 One example is ``TalonFXConfiguration``, which has subgroups of configs such as ``MotorOutputConfigs``.
 The configs can be modified through public member variables of the ``Configuration`` object.
 The complete list of configuration objects can be found in the API documentation (`Java <https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/configs/package-summary.html>`__, `C++ <https://api.ctr-electronics.com/phoenixpro/release/cpp/namespacectre_1_1phoenixpro_1_1configs.html>`__).

source/docs/api-reference/api-usage/device-specific-configs/cancoder-configs.rst

@@ -0,0 +1,27 @@
+CANcoder Configs
+================
+
+This article highlights the CANcoder specific configs and how they are intended to be used.
+
+.. note:: Unlike Phoenix 5, CANcoder will always initialize to the absolute position measurement.
+
+Magnet Configs
+--------------
+
+These are configs related to the CANcoder magnet placement and interpretation.
+
+Magnet Offset
+^^^^^^^^^^^^^
+
+An offset can be applied to the CANcoder position measurements that is relative, in rotations, to the magnet position. For example, the below picture indicates that the current absolute rotation is ``.75`` rotations. If you rotate the magnet CCW (from the perspective of the back of the CANcoder) by ``.25`` rotations, then the reported absolute position is ``1`` rotations. When an offset of ``.25`` is applied, the CANcoder will report the current position as ``1`` rotations. Magnet Offset must be in a range of ``-1`` to ``1``.
+
+.. note:: For mechanisms with fixed range of motion, the offset should be set so that the discontinuity of the absolute measurement (ie, the rollover from ``1`` to ``0``) does not occur within the mechanism's range of motion.
+
+.. image:: images/cancoder-orientation.png
+   :width: 550
+   :alt: Orientation of the cancoder magnet from the back of the cancoder
+
+Magnet Range
+^^^^^^^^^^^^
+
+The range for a rotation can be modified. This can be useful if the CANcoder is not directly placed on the output shaft. For example, if the gear ratio between the CANcoder and the output shaft is 8:1, then the output shaft rotates 8 times for 1 CANcoder magnet rotation. If a Magnet Range config of ``8`` is applied, then this will be reported as ``1`` rotation instead of ``8`` rotations.

source/docs/api-reference/api-usage/device-specific-configs/index.rst

@@ -0,0 +1,9 @@
+Device Configs
+==============
+
+This section intends to explain device specific config groups and how they are useful.
+
+.. toctree::
+   :maxdepth: 1
+
+   cancoder-configs

source/docs/api-reference/api-usage/index.rst

@@ -29,6 +29,7 @@ There are three major components to the Phoenix Pro API:
 
    api-overview
    configuration
+   device-specific-configs/index
    control-requests
    status-signals
    faults