Package com.ctre.phoenix

Class CANifier

java.lang.Object
com.ctre.phoenix.CANifier
public class CANifier
extends Object
CTRE CANifier Device for interfacing common devices to the CAN bus.

  • Field Details

  • Constructor Details

    • CANifier

      public CANifier​(int deviceId)
      Constructor.
      Parameters:
      deviceId - The CAN Device ID of the CANifier.

  • Method Details

    • DestroyObject

      public ErrorCode DestroyObject()
      Destructor
      Returns:
      Error Code generated by function. 0 indicates no error.

    • setLEDOutput

      public void setLEDOutput​(double percentOutput, CANifier.LEDChannel ledChannel)
      Sets the LED Output
      Parameters:
      percentOutput - Output duty cycle expressed as percentage.
      ledChannel - Channel to set the output of.

    • setGeneralOutput

      public void setGeneralOutput​(CANifier.GeneralPin outputPin, boolean outputValue, boolean outputEnable)
      Sets the output of a General Pin
      Parameters:
      outputPin - The pin to use as output.
      outputValue - The desired output state.
      outputEnable - Whether this pin is an output. "True" enables output.

    • setGeneralOutputs

      public void setGeneralOutputs​(int outputBits, int isOutputBits)
      Sets the output of all General Pins
      Parameters:
      outputBits - A bit mask of all the output states. LSB->MSB is in the order of the com.ctre.phoenix.CANifier.GeneralPin enum.
      isOutputBits - A boolean bit mask that sets the pins to be outputs or inputs. A bit of 1 enables output.

    • getGeneralInputs

      public void getGeneralInputs​(CANifier.PinValues allPins)
      Gets the state of all General Pins
      Parameters:
      allPins - A structure to fill with the current state of all pins.

    • getGeneralInput

      public boolean getGeneralInput​(CANifier.GeneralPin inputPin)
      Gets the state of the specified pin
      Parameters:
      inputPin - The index of the pin.
      Returns:
      The state of the pin.

    • getLastError

      public ErrorCode 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.

    • setPWMOutput

      public void setPWMOutput​(int pwmChannel, double dutyCycle)
      Sets the PWM Output Currently supports PWM 0, PWM 1, and PWM 2
      Parameters:
      pwmChannel - Index of the PWM channel to output.
      dutyCycle - Duty Cycle (0 to 1) to output. Default period of the signal is 4.2 ms.

    • enablePWMOutput

      public void enablePWMOutput​(int pwmChannel, boolean bEnable)
      Enables PWM Outputs Currently supports PWM 0, PWM 1, and PWM 2
      Parameters:
      pwmChannel - Index of the PWM channel to enable.
      bEnable - "True" enables output on the pwm channel.

    • getPWMInput

      public void getPWMInput​(CANifier.PWMChannel pwmChannel, double[] pulseWidthAndPeriod)
      Gets the PWM Input
      Parameters:
      pwmChannel - PWM channel to get.
      pulseWidthAndPeriod - Double array to hold Duty Cycle [0] and Period [1].

    • getQuadraturePosition

      public int getQuadraturePosition()
      Gets the quadrature encoder's position
      Returns:
      Position of encoder

    • setQuadraturePosition

      public ErrorCode setQuadraturePosition​(int newPosition, int timeoutMs)
      Sets the quadrature encoder's position
      Parameters:
      newPosition - Position to set
      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.

    • getQuadratureVelocity

      public int getQuadratureVelocity()
      Gets the quadrature encoder's velocity
      Returns:
      Velocity of encoder

    • configVelocityMeasurementPeriod

      public ErrorCode configVelocityMeasurementPeriod​(SensorVelocityMeasPeriod period, int timeoutMs)
      Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.
      Parameters:
      period - Desired period for the velocity measurement. @see com.ctre.phoenix.sensors.SensorVelocityMeasPeriod
      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.

    • configVelocityMeasurementPeriod

      @Deprecated public ErrorCode configVelocityMeasurementPeriod​(VelocityPeriod period, int timeoutMs)
      Deprecated.
      Use the overload with SensorVelocityMeasPeriod instead.
      Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.
      Parameters:
      period - Desired period for the velocity measurement. @see com.ctre.phoenix.VelocityMeasPeriod
      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.

    • configVelocityMeasurementPeriod

      public ErrorCode configVelocityMeasurementPeriod​(SensorVelocityMeasPeriod period)
      Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.
      Parameters:
      period - Desired period for the velocity measurement. @see com.ctre.phoenix.sensor.SensorVelocityMeasPeriod
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configVelocityMeasurementPeriod

      @Deprecated public ErrorCode configVelocityMeasurementPeriod​(VelocityPeriod period)
      Deprecated.
      Use the overload with SensorVelocityMeasPeriod instead.
      Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.
      Parameters:
      period - Desired period for the velocity measurement. @see com.ctre.phoenix.motorcontrol.VelocityMeasPeriod
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configVelocityMeasurementWindow

      public ErrorCode configVelocityMeasurementWindow​(int windowSize, int timeoutMs)
      Sets the number of velocity samples used in the rolling average velocity measurement.
      Parameters:
      windowSize - Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
      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.

    • configVelocityMeasurementWindow

      public ErrorCode configVelocityMeasurementWindow​(int windowSize)
      Sets the number of velocity samples used in the rolling average velocity measurement.
      Parameters:
      windowSize - Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configClearPositionOnLimitF

      public ErrorCode configClearPositionOnLimitF​(boolean clearPositionOnLimitF, int timeoutMs)
      Enables clearing the position of the feedback sensor when the forward limit switch is triggered
      Parameters:
      clearPositionOnLimitF - Whether clearing is enabled, defaults false
      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.

    • configClearPositionOnLimitR

      public ErrorCode configClearPositionOnLimitR​(boolean clearPositionOnLimitR, int timeoutMs)
      Enables clearing the position of the feedback sensor when the reverse limit switch is triggered
      Parameters:
      clearPositionOnLimitR - Whether clearing is enabled, defaults false
      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.

    • configClearPositionOnQuadIdx

      public ErrorCode configClearPositionOnQuadIdx​(boolean clearPositionOnQuadIdx, int timeoutMs)
      Enables clearing the position of the feedback sensor when the quadrature index signal is detected
      Parameters:
      clearPositionOnQuadIdx - Whether clearing is enabled, defaults false
      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.

    • configSetCustomParam

      public ErrorCode configSetCustomParam​(int newValue, int paramIndex, int timeoutMs)
      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.

    • configSetCustomParam

      public ErrorCode configSetCustomParam​(int newValue, int paramIndex)
      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]
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configGetCustomParam

      public int configGetCustomParam​(int paramIndex, int timeoutMs)
      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.

    • configGetCustomParam

      public int configGetCustomParam​(int paramIndex)
      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]
      Returns:
      Value of the custom param.

    • configSetParameter

      public ErrorCode configSetParameter​(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)
      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.

    • configSetParameter

      public ErrorCode configSetParameter​(ParamEnum param, double value, int subValue, int ordinal)
      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.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configSetParameter

      public ErrorCode configSetParameter​(int param, double value, int subValue, int ordinal, int timeoutMs)
      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.

    • configSetParameter

      public ErrorCode configSetParameter​(int param, double value, int subValue, int ordinal)
      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.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configGetParameter

      public double configGetParameter​(ParamEnum param, int ordinal, int timeoutMs)
      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.

    • configGetParameter

      public double configGetParameter​(ParamEnum param, int ordinal)
      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.
      Returns:
      Value of parameter.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(CANifierStatusFrame statusFrame, int periodMs, int timeoutMs)
      Sets the period of the given status frame.
      Parameters:
      statusFrame - 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.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(CANifierStatusFrame statusFrame, int periodMs)
      Sets the period of the given status frame.
      Parameters:
      statusFrame - 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.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(int statusFrame, int periodMs, int timeoutMs)
      Sets the period of the given status frame.
      Parameters:
      statusFrame - 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.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(int statusFrame, int periodMs)
      Sets the period of the given status frame.
      Parameters:
      statusFrame - 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.

    • getStatusFramePeriod

      public int getStatusFramePeriod​(CANifierStatusFrame frame, int timeoutMs)
      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.

    • getStatusFramePeriod

      public int getStatusFramePeriod​(CANifierStatusFrame frame)
      Gets the period of the given status frame.
      Parameters:
      frame - Frame to get the period of.
      Returns:
      Period of the given status frame.

    • setControlFramePeriod

      public ErrorCode setControlFramePeriod​(CANifierControlFrame 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.

    • setControlFramePeriod

      public ErrorCode setControlFramePeriod​(int 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.

    • getFirmwareVersion

      public int getFirmwareVersion()
      Gets the firmware version of the device.
      Returns:
      Firmware version of device.

    • hasResetOccurred

      public boolean hasResetOccurred()
      Returns true if the device has reset since last call.
      Returns:
      Has a Device Reset Occurred?

    • getFaults

      public ErrorCode getFaults​(CANifierFaults toFill)
      Gets the CANifier fault status
      Parameters:
      toFill - Container for fault statuses.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getStickyFaults

      public ErrorCode getStickyFaults​(CANifierStickyFaults toFill)
      Gets the CANifier sticky fault status
      Parameters:
      toFill - Container for sticky fault statuses.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • clearStickyFaults

      public ErrorCode clearStickyFaults​(int timeoutMs)
      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.

    • getBusVoltage

      public double getBusVoltage()
      Gets the bus voltage seen by the device.
      Returns:
      The bus voltage value (in volts).

    • getDeviceID

      public int getDeviceID()
      Returns:
      The Device Number

    • configAllSettings

      public ErrorCode configAllSettings​(CANifierConfiguration allConfigs, int timeoutMs)
      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.

    • configAllSettings

      public ErrorCode configAllSettings​(CANifierConfiguration allConfigs)
      Configures all persistent settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getAllConfigs

      public void getAllConfigs​(CANifierConfiguration allConfigs, int timeoutMs)
      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.

    • getAllConfigs

      public void getAllConfigs​(CANifierConfiguration allConfigs)
      Gets all persistant settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings

    • configFactoryDefault

      public ErrorCode configFactoryDefault​(int timeoutMs)
      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.

    • configFactoryDefault

      public ErrorCode configFactoryDefault()
      Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).
      Returns:
      Error Code generated by function. 0 indicates no error.