CTRE CANdle. More...

#include <ctre/phoenix/led/CANdle.h>

Public Member Functions
	CANdle (int deviceId, std::string const &canbus="")
	Constructor for a CANdle Device.

	~CANdle ()

double	GetBusVoltage ()
	Gets the Voltage of VBat as measured by CANdle.

double	Get5VRailVoltage ()
	Gets the Voltage of the 5V line as measured by CANdle.

double	GetCurrent ()
	Gets the low-side current as measured by CANdle.

double	GetTemperature ()
	Gets the temperature of the CANdle in Celcius.

double	GetVBatModulation ()
	Gets the applied vbat modulation in percent.

int	GetMaxSimultaneousAnimationCount ()
	Gets the maximum number of simultaneous animations this version of CANdle firmware supports.

ctre::phoenix::ErrorCode	Animate (Animation &animation, int animSlot=0)
	Animates the CANdle with the passed-in animation If the animation changes after calling this function, it must be passed into animate again for the changes to take effect.

ctre::phoenix::ErrorCode	ClearAnimation (int animSlot)
	Clears the animation occurring in the selected selected animSlot.

ctre::phoenix::ErrorCode	SetLEDs (int r, int g, int b, int w=0, int startIdx=0, int count=512)
	Sets a block of LEDs to the specified color.

ErrorCode	ModulateVBatOutput (double dutyCyclePrcnt)
	Modulates the VBat output to the specified duty cycle percentage This function will only do something if the CANdle's VBatOutput is configured to Modulated.

ErrorCode	ConfigLOSBehavior (bool disableWhenLOS, int timeoutMs=0)
	Configures what the CANdle should do if it loses communications to the Controller.

ErrorCode	ConfigLEDType (LEDStripType type, int timeoutMs=0)
	Configures the type of LED the CANdle controls.

ErrorCode	ConfigBrightnessScalar (double brightness, int timeoutMs=0)
	Configures the brightness scalar to be applied to every LED output.

ErrorCode	ConfigStatusLedState (bool disableWhenRunning, int timeoutMs=0)
	Configures how the status led will behave when the CANdle is actively controlling LEDs If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.

ErrorCode	ConfigVBatOutput (VBatOutputMode mode, int timeoutMs=0)
	Configures how the VBat Output will behave.

ErrorCode	configV5Enabled (bool v5Enabled, int timeoutMs=0)
	Configures the enable state for the 5V rail.

double	ConfigGetParameter (ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter.

ErrorCode	ConfigSetParameter (ParamEnum param, double value, int subValue=0, int ordinal=0, int timeoutMs=0)
	Sets a parameter.

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter.

ErrorCode	ConfigSetCustomParam (int paramIndex, int value, int timeoutMs=0)
	Sets the value of a custom parameter.

ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Configures all persistent settings to defaults.

ErrorCode	GetFaults (CANdleFaults &toFill)
	Gets the CANdle fault status.

ErrorCode	GetStickyFaults (CANdleStickyFaults &toFill)
	Gets the CANdle sticky fault status.

ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the sticky faults.

bool	HasResetOccurred ()
	Returns true if the device has reset since last call.

ErrorCode	SetStatusFramePeriod (CANdleStatusFrame frame, int periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

int	GetStatusFramePeriod (CANdleStatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame.

ErrorCode	SetControlFramePeriod (CANdleControlFrame frame, int periodMs)
	Sets the period of the given control frame.

ErrorCode	ConfigAllSettings (CANdleConfiguration allConfigs, int timeoutMs=50)
	Configures all persistent settings.

void	GetAllConfigs (CANdleConfiguration allConfigs, int timeoutMs=50)
	Gets all persistant settings.

ErrorCode	GetLastError ()
	Call GetLastError() generated by this object.

Detailed Description

CTRE CANdle.

Device for controlling LEDs from the CAN bus.



// Example usage of a CANdle

CANdle candle{0}; // creates a new CANdle with ID 0



CANdleConfiguration config;

config.stripType = LEDStripType::RGB; // set the strip type to RGB

config.brightnessScalar = 0.5; // dim the LEDs to half brightness

candle.ConfigAllSettings(config);



candle.SetLEDs(255, 255, 255); // set the CANdle LEDs to white



// create a rainbow animation:

// - max brightness

// - half speed

// - 64 LEDs

RainbowAnimation rainbowAnim{1, 0.5, 64};

candle.Animate(rainbowAnim);



ErrorCode error = candle.GetLastError(); // gets the last error generated by the CANdle

CANdleFaults faults;

ErrorCode faultsError = candle.GetFaults(faults); // fills faults with the current CANdle faults; returns the last error generated

Constructor & Destructor Documentation

◆ CANdle()

ctre::phoenix::led::CANdle::CANdle	(	int	deviceId,
		std::string const &	canbus = "" )

Constructor for a CANdle Device.

Parameters

deviceId	The Device ID of the CANdle
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

◆ ~CANdle()

ctre::phoenix::led::CANdle::~CANdle ( )

Member Function Documentation

◆ Animate()

ctre::phoenix::ErrorCode ctre::phoenix::led::CANdle::Animate	(	Animation &	animation,
		int	animSlot = 0 )

Animates the CANdle with the passed-in animation If the animation changes after calling this function, it must be passed into animate again for the changes to take effect.

Parameters

animation	The animation that CANdle will run. If this is null, it will clear the animation at the specified slot
animSlot	The animation slot to use for the animation, range is [0, getMaxSimultaneousAnimationCount()) exclusive

Returns: ErrorCode generated by function. OK indicates no error.

◆ ClearAnimation()

ctre::phoenix::ErrorCode ctre::phoenix::led::CANdle::ClearAnimation ( int animSlot )

Clears the animation occurring in the selected selected animSlot.

Parameters

animSlot Animation slot to clear

Returns: ErrorCode generated by function. OK indicates no error.

◆ ClearStickyFaults()

ErrorCode ctre::phoenix::led::CANdle::ClearStickyFaults ( int timeoutMs = 0 )

Clears the sticky faults.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigAllSettings()

ErrorCode ctre::phoenix::led::CANdle::ConfigAllSettings	(	CANdleConfiguration	allConfigs,
		int	timeoutMs = 50 )

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigBrightnessScalar()

ErrorCode ctre::phoenix::led::CANdle::ConfigBrightnessScalar	(	double	brightness,
		int	timeoutMs = 0 )

Configures the brightness scalar to be applied to every LED output.

This value is bounded to [0, 1].

Setting this to 1 will allow the LEDs to function at max brightness. Setting this to 0.5 will scale all values to half their applied value. Setting this to 0 will turn off the LEDs.

Forcing the LEDs off this way may be useful in certain testing circumstances but is generally not necessary. Self-test (Tuner) may be used to verify what the effective scalar is in case user forgot to restore the scalar to a non-zero value.

Parameters

brightness	Value from [0, 1] that will scale the LED output.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigFactoryDefault()

ErrorCode ctre::phoenix::led::CANdle::ConfigFactoryDefault ( int timeoutMs = 50 )

Configures all persistent settings to defaults.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigGetCustomParam()

int ctre::phoenix::led::CANdle::ConfigGetCustomParam	(	int	paramIndex,
		int	timeoutMs = 0 )

Gets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of the custom param.

◆ ConfigGetParameter()

double ctre::phoenix::led::CANdle::ConfigGetParameter	(	ParamEnum	param,
		int	ordinal,
		int	timeoutMs = 0 )

Gets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of parameter.

◆ ConfigLEDType()

ErrorCode ctre::phoenix::led::CANdle::ConfigLEDType	(	LEDStripType	type,
		int	timeoutMs = 0 )

Configures the type of LED the CANdle controls.

Parameters

type	The type of the LEDs the CANdle controls
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode generated by function. OK indicates no error.

◆ ConfigLOSBehavior()

ErrorCode ctre::phoenix::led::CANdle::ConfigLOSBehavior	(	bool	disableWhenLOS,
		int	timeoutMs = 0 )

Configures what the CANdle should do if it loses communications to the Controller.

Parameters

disableWhenLOS	Set to true to disable the LEDs on Loss of Signal.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode generated by function. OK indicates no error.

◆ ConfigSetCustomParam()

ErrorCode ctre::phoenix::led::CANdle::ConfigSetCustomParam	(	int	paramIndex,
		int	value,
		int	timeoutMs = 0 )

Sets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetParameter()

ErrorCode ctre::phoenix::led::CANdle::ConfigSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue = 0,
		int	ordinal = 0,
		int	timeoutMs = 0 )

Sets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigStatusLedState()

ErrorCode ctre::phoenix::led::CANdle::ConfigStatusLedState	(	bool	disableWhenRunning,
		int	timeoutMs = 0 )

Configures how the status led will behave when the CANdle is actively controlling LEDs If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.

Parameters

disableWhenRunning	Disables the status LED when the CANdle is running
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ configV5Enabled()

ErrorCode ctre::phoenix::led::CANdle::configV5Enabled	(	bool	v5Enabled,
		int	timeoutMs = 0 )

Configures the enable state for the 5V rail.

This also affects the on-board LEDs.

Parameters

v5Enabled	True to enable the 5V rail.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode generated by function. OK indicates no error.

◆ ConfigVBatOutput()

ErrorCode ctre::phoenix::led::CANdle::ConfigVBatOutput	(	VBatOutputMode	mode,
		int	timeoutMs = 0 )

Configures how the VBat Output will behave.

Parameters

mode	VBat Output Behavior
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ Get5VRailVoltage()

double ctre::phoenix::led::CANdle::Get5VRailVoltage ( )

Gets the Voltage of the 5V line as measured by CANdle.

Returns: Voltage of the 5V line

◆ GetAllConfigs()

void ctre::phoenix::led::CANdle::GetAllConfigs	(	CANdleConfiguration	allConfigs,
		int	timeoutMs = 50 )

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

◆ GetBusVoltage()

double ctre::phoenix::led::CANdle::GetBusVoltage ( )

Gets the Voltage of VBat as measured by CANdle.

Returns: Voltage of VBat

◆ GetCurrent()

double ctre::phoenix::led::CANdle::GetCurrent ( )

Gets the low-side current as measured by CANdle.

Returns: Current in Amps

◆ GetFaults()

ErrorCode ctre::phoenix::led::CANdle::GetFaults ( CANdleFaults & toFill )

Gets the CANdle fault status.

Parameters

toFill Container for fault statuses.

Returns: Error Code generated by function. OK indicates no error.

◆ GetLastError()

ErrorCode ctre::phoenix::led::CANdle::GetLastError ( )

Call GetLastError() generated by this object.

Not all functions return an error code but can potentially report errors.

This function can be used to retrieve those error codes.

Returns: The last ErrorCode generated.

◆ GetMaxSimultaneousAnimationCount()

int ctre::phoenix::led::CANdle::GetMaxSimultaneousAnimationCount ( )

Gets the maximum number of simultaneous animations this version of CANdle firmware supports.

If you specify an animation slot >= to this return, Phoenix will error out. You can also get the maximum count from a self-test snapshot.

Returns: Maximum number of simultaneous animations this version of firmware supports.

◆ GetStatusFramePeriod()

int ctre::phoenix::led::CANdle::GetStatusFramePeriod	(	CANdleStatusFrame	frame,
		int	timeoutMs = 0 )

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

◆ GetStickyFaults()

ErrorCode ctre::phoenix::led::CANdle::GetStickyFaults ( CANdleStickyFaults & toFill )

Gets the CANdle sticky fault status.

Parameters

toFill Container for sticky fault statuses.

Returns: Error Code generated by function. OK indicates no error.

◆ GetTemperature()

double ctre::phoenix::led::CANdle::GetTemperature ( )

Gets the temperature of the CANdle in Celcius.

Returns: Temperature in Celcius

◆ GetVBatModulation()

double ctre::phoenix::led::CANdle::GetVBatModulation ( )

Gets the applied vbat modulation in percent.

If the CANdle is configured to always enable VBat, this returns 1 If the CANdle is confgigured to always disable VBat, this returns 0 Otherwise it returns the last set Modulation as a value [0, 1]

Returns: VBat Output Modulation

◆ HasResetOccurred()

bool ctre::phoenix::led::CANdle::HasResetOccurred ( )

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

◆ ModulateVBatOutput()

ErrorCode ctre::phoenix::led::CANdle::ModulateVBatOutput ( double dutyCyclePrcnt )

Modulates the VBat output to the specified duty cycle percentage This function will only do something if the CANdle's VBatOutput is configured to Modulated.

Parameters

dutyCyclePrcnt The duty cycle of the output modulation [0, 1]

Returns: ErrorCode generated by function. OK indicates no error.

◆ SetControlFramePeriod()

ErrorCode ctre::phoenix::led::CANdle::SetControlFramePeriod	(	CANdleControlFrame	frame,
		int	periodMs )

Sets the period of the given control frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetLEDs()

ctre::phoenix::ErrorCode ctre::phoenix::led::CANdle::SetLEDs	(	int	r,
		int	g,
		int	b,
		int	w = 0,
		int	startIdx = 0,
		int	count = 512 )

Sets a block of LEDs to the specified color.

Parameters

r	The amount of Red to set, range is [0, 255]
g	The amount of Green to set, range is [0, 255]
b	The amount of Blue to set, range is [0, 255]
w	The amount of White to set, range is [0, 255]. This only applies for LED strips with white in them.
startIdx	Where to start setting the LEDs
count	The number of LEDs to apply this to

Returns: ErrorCode generated by function. OK indicates no error.

◆ SetStatusFramePeriod()

ErrorCode ctre::phoenix::led::CANdle::SetStatusFramePeriod	(	CANdleStatusFrame	frame,
		int	periodMs,
		int	timeoutMs = 0 )

Sets the period of the given status frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

The documentation for this class was generated from the following file:

ctre/phoenix/led/CANdle.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CANdle()

◆ ~CANdle()

Member Function Documentation

◆ Animate()

◆ ClearAnimation()

◆ ClearStickyFaults()

◆ ConfigAllSettings()

◆ ConfigBrightnessScalar()

◆ ConfigFactoryDefault()

◆ ConfigGetCustomParam()

◆ ConfigGetParameter()

◆ ConfigLEDType()

◆ ConfigLOSBehavior()

◆ ConfigSetCustomParam()

◆ ConfigSetParameter()

◆ ConfigStatusLedState()

◆ configV5Enabled()

◆ ConfigVBatOutput()

◆ Get5VRailVoltage()

◆ GetAllConfigs()

◆ GetBusVoltage()

◆ GetCurrent()

◆ GetFaults()

◆ GetLastError()

◆ GetMaxSimultaneousAnimationCount()

◆ GetStatusFramePeriod()

◆ GetStickyFaults()

◆ GetTemperature()

◆ GetVBatModulation()

◆ HasResetOccurred()

◆ ModulateVBatOutput()

◆ SetControlFramePeriod()

◆ SetLEDs()

◆ SetStatusFramePeriod()