Package com.ctre.phoenix6.hardware.core

Class CoreCANrange

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreCANrange
Direct Known Subclasses:
CANrange
public class CoreCANrange extends ParentDevice
Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device. 
 // Constants used in CANrange construction
 final int kCANrangeId = 0;
 final String kCANrangeCANbus = "canivore";
 
 // Construct the CANrange
 CANrange CANrange = new CANrange(kCANrangeId, kCANrangeCANbus);
 
 // Configure the CANrange for basic use
 CANrangeConfiguration configs = new CANrangeConfiguration();
 
 // Write these configs to the CANrange
 CANrange.getConfigurator().apply(configs);
 
 // Get Distance
 var distance = CANrange.getDistance();
 
 // Refresh and print these values
 System.out.println("Distance is " + distance.refresh().toString());

  • Constructor Details

    • CoreCANrange

      public CoreCANrange(int deviceId)
      Constructs a new CANrange object.

      Constructs the device using the default CAN bus for the system:

      • "rio" on roboRIO
      • "can0" on Linux
      • "*" on Windows
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.

    • CoreCANrange

      public CoreCANrange(int deviceId, String canbus)
      Constructs a new CANrange object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.
      canbus - Name of the CAN bus this device is on. Possible CAN bus strings are:
      • "rio" for the native roboRIO CAN bus
      • CANivore name or serial number
      • SocketCAN interface (non-FRC Linux only)
      • "*" for any CANivore seen by the program
      • empty string (default) to select the default for the system:
        • "rio" on roboRIO
        • "can0" on Linux
        • "*" on Windows

    • CoreCANrange

      public CoreCANrange(int deviceId, CANBus canbus)
      Constructs a new CANrange object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.
      canbus - The CAN bus this device is on.

  • Method Details

    • getConfigurator

      public CANrangeConfigurator getConfigurator()
      Gets the configurator to use with this device's configs
      Returns:
      Configurator for this object

    • getSimState

      public CANrangeSimState getSimState()
      Get the simulation state for this device.

      This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

      Returns:
      Simulation state

    • getVersionMajor

      public StatusSignal<Integer> getVersionMajor()
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionMajor Status Signal Object

    • getVersionMajor

      public StatusSignal<Integer> getVersionMajor(boolean refresh)
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMajor Status Signal Object

    • getVersionMinor

      public StatusSignal<Integer> getVersionMinor()
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionMinor Status Signal Object

    • getVersionMinor

      public StatusSignal<Integer> getVersionMinor(boolean refresh)
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMinor Status Signal Object

    • getVersionBugfix

      public StatusSignal<Integer> getVersionBugfix()
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionBugfix Status Signal Object

    • getVersionBugfix

      public StatusSignal<Integer> getVersionBugfix(boolean refresh)
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBuild

      public StatusSignal<Integer> getVersionBuild()
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionBuild Status Signal Object

    • getVersionBuild

      public StatusSignal<Integer> getVersionBuild(boolean refresh)
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBuild Status Signal Object

    • getVersion

      public StatusSignal<Integer> getVersion()
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Version Status Signal Object

    • getVersion

      public StatusSignal<Integer> getVersion(boolean refresh)
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Version Status Signal Object

    • getFaultField

      public StatusSignal<Integer> getFaultField()
      Integer representing all fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      FaultField Status Signal Object

    • getFaultField

      public StatusSignal<Integer> getFaultField(boolean refresh)
      Integer representing all fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      FaultField Status Signal Object

    • getStickyFaultField

      public StatusSignal<Integer> getStickyFaultField()
      Integer representing all (persistent) sticky fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFaultField Status Signal Object

    • getStickyFaultField

      public StatusSignal<Integer> getStickyFaultField(boolean refresh)
      Integer representing all (persistent) sticky fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFaultField Status Signal Object

    • getIsProLicensed

      public StatusSignal<Boolean> getIsProLicensed()
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      IsProLicensed Status Signal Object

    • getIsProLicensed

      public StatusSignal<Boolean> getIsProLicensed(boolean refresh)
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      IsProLicensed Status Signal Object

    • getSupplyVoltage

      public StatusSignal<edu.wpi.first.units.measure.Voltage> getSupplyVoltage()
      Measured supply voltage to the CANrange.
      • Minimum Value: 4
      • Maximum Value: 16.75
      • Default Value: 4
      • Units: V
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      SupplyVoltage Status Signal Object

    • getSupplyVoltage

      public StatusSignal<edu.wpi.first.units.measure.Voltage> getSupplyVoltage(boolean refresh)
      Measured supply voltage to the CANrange.
      • Minimum Value: 4
      • Maximum Value: 16.75
      • Default Value: 4
      • Units: V
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SupplyVoltage Status Signal Object

    • getDistance

      public StatusSignal<edu.wpi.first.units.measure.Distance> getDistance()
      Distance to the nearest object in the configured field of view of the CANrange.
      • Minimum Value: 0.0
      • Maximum Value: 65.535
      • Default Value: 0
      • Units: m
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Distance Status Signal Object

    • getDistance

      public StatusSignal<edu.wpi.first.units.measure.Distance> getDistance(boolean refresh)
      Distance to the nearest object in the configured field of view of the CANrange.
      • Minimum Value: 0.0
      • Maximum Value: 65.535
      • Default Value: 0
      • Units: m
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Distance Status Signal Object

    • getMeasurementTime

      public StatusSignal<edu.wpi.first.units.measure.Time> getMeasurementTime()
      Timestamp of the most recent measurements. This is not synchronized to any other clock source.

      Users can use this to check when the measurements are updated.

      • Minimum Value: 0.0
      • Maximum Value: 65.535
      • Default Value: 0
      • Units: s
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MeasurementTime Status Signal Object

    • getMeasurementTime

      public StatusSignal<edu.wpi.first.units.measure.Time> getMeasurementTime(boolean refresh)
      Timestamp of the most recent measurements. This is not synchronized to any other clock source.

      Users can use this to check when the measurements are updated.

      • Minimum Value: 0.0
      • Maximum Value: 65.535
      • Default Value: 0
      • Units: s
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MeasurementTime Status Signal Object

    • getSignalStrength

      public StatusSignal<Double> getSignalStrength()
      Approximate signal strength of the measurement. A higher value indicates a higher strength of signal.

      A value of ~2500 is typical when detecting an object under short-range conditions.

      • Minimum Value: 0
      • Maximum Value: 65535
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      SignalStrength Status Signal Object

    • getSignalStrength

      public StatusSignal<Double> getSignalStrength(boolean refresh)
      Approximate signal strength of the measurement. A higher value indicates a higher strength of signal.

      A value of ~2500 is typical when detecting an object under short-range conditions.

      • Minimum Value: 0
      • Maximum Value: 65535
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SignalStrength Status Signal Object

    • getIsDetected

      public StatusSignal<Boolean> getIsDetected()
      Whether the CANrange detects an object using the configured proximity parameters.
      • Default Value: 0
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      IsDetected Status Signal Object

    • getIsDetected

      public StatusSignal<Boolean> getIsDetected(boolean refresh)
      Whether the CANrange detects an object using the configured proximity parameters.
      • Default Value: 0
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      IsDetected Status Signal Object

    • getMeasurementHealth

      public StatusSignal<MeasurementHealthValue> getMeasurementHealth()
      Health of the distance measurement. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MeasurementHealth Status Signal Object

    • getMeasurementHealth

      public StatusSignal<MeasurementHealthValue> getMeasurementHealth(boolean refresh)
      Health of the distance measurement. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MeasurementHealth Status Signal Object

    • getAmbientSignal

      public StatusSignal<Double> getAmbientSignal()
      The amount of ambient infrared light that the sensor is detecting. For ideal operation, this should be as low as possible.

      Short-range mode reduces the influence of ambient infrared light.

      • Minimum Value: 0
      • Maximum Value: 65535
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 20.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      AmbientSignal Status Signal Object

    • getAmbientSignal

      public StatusSignal<Double> getAmbientSignal(boolean refresh)
      The amount of ambient infrared light that the sensor is detecting. For ideal operation, this should be as low as possible.

      Short-range mode reduces the influence of ambient infrared light.

      • Minimum Value: 0
      • Maximum Value: 65535
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 20.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AmbientSignal Status Signal Object

    • getDistanceStdDev

      public StatusSignal<edu.wpi.first.units.measure.Distance> getDistanceStdDev()
      Standard Deviation of the distance measurement.
      • Minimum Value: 0.0
      • Maximum Value: 1.3107000000000002
      • Default Value: 0
      • Units: m
      Default Rates:
      • CAN 2.0: 20.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DistanceStdDev Status Signal Object

    • getDistanceStdDev

      public StatusSignal<edu.wpi.first.units.measure.Distance> getDistanceStdDev(boolean refresh)
      Standard Deviation of the distance measurement.
      • Minimum Value: 0.0
      • Maximum Value: 1.3107000000000002
      • Default Value: 0
      • Units: m
      Default Rates:
      • CAN 2.0: 20.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DistanceStdDev Status Signal Object

    • getRealFOVCenterX

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVCenterX()
      The actual center of the FOV in the X direction. This takes into account the user-configured FOVCenterX and FOVRangeX.
      • Minimum Value: -16.0
      • Maximum Value: 15.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RealFOVCenterX Status Signal Object

    • getRealFOVCenterX

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVCenterX(boolean refresh)
      The actual center of the FOV in the X direction. This takes into account the user-configured FOVCenterX and FOVRangeX.
      • Minimum Value: -16.0
      • Maximum Value: 15.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RealFOVCenterX Status Signal Object

    • getRealFOVCenterY

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVCenterY()
      The actual center of the FOV in the Y direction. This takes into account the user-configured FOVCenterY and FOVRangeY.
      • Minimum Value: -16.0
      • Maximum Value: 15.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RealFOVCenterY Status Signal Object

    • getRealFOVCenterY

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVCenterY(boolean refresh)
      The actual center of the FOV in the Y direction. This takes into account the user-configured FOVCenterY and FOVRangeY.
      • Minimum Value: -16.0
      • Maximum Value: 15.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RealFOVCenterY Status Signal Object

    • getRealFOVRangeX

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVRangeX()
      The actual range of the FOV in the X direction. This takes into account the user-configured FOVRangeX.
      • Minimum Value: 0.0
      • Maximum Value: 31.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RealFOVRangeX Status Signal Object

    • getRealFOVRangeX

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVRangeX(boolean refresh)
      The actual range of the FOV in the X direction. This takes into account the user-configured FOVRangeX.
      • Minimum Value: 0.0
      • Maximum Value: 31.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RealFOVRangeX Status Signal Object

    • getRealFOVRangeY

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVRangeY()
      The actual range of the FOV in the Y direction. This takes into account the user-configured FOVRangeY.
      • Minimum Value: 0.0
      • Maximum Value: 31.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RealFOVRangeY Status Signal Object

    • getRealFOVRangeY

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRealFOVRangeY(boolean refresh)
      The actual range of the FOV in the Y direction. This takes into account the user-configured FOVRangeY.
      • Minimum Value: 0.0
      • Maximum Value: 31.875
      • Default Value: 0
      • Units: deg
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RealFOVRangeY Status Signal Object

    • getFault_Hardware

      public StatusSignal<Boolean> getFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_Hardware Status Signal Object

    • getFault_Hardware

      public StatusSignal<Boolean> getFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public StatusSignal<Boolean> getStickyFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public StatusSignal<Boolean> getStickyFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Hardware Status Signal Object

    • getFault_Undervoltage

      public StatusSignal<Boolean> getFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_Undervoltage Status Signal Object

    • getFault_Undervoltage

      public StatusSignal<Boolean> getFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public StatusSignal<Boolean> getStickyFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public StatusSignal<Boolean> getStickyFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getFault_BootDuringEnable

      public StatusSignal<Boolean> getFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getFault_BootDuringEnable

      public StatusSignal<Boolean> getFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public StatusSignal<Boolean> getStickyFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public StatusSignal<Boolean> getStickyFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • setControl

      public StatusCode setControl(ControlRequest request)
      Control device with generic control request object.

      User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

      Parameters:
      request - Control object to request of the device
      Returns:
      Status Code of the request, 0 is OK

    • clearStickyFaults

      public StatusCode clearStickyFaults()
      Clear the sticky faults in the device.

      This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public StatusCode clearStickyFaults(double timeoutSeconds)
      Clear the sticky faults in the device.

      This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public StatusCode clearStickyFault_Undervoltage()
      Clear sticky fault: Device supply voltage dropped to near brownout levels

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public StatusCode clearStickyFault_Undervoltage(double timeoutSeconds)
      Clear sticky fault: Device supply voltage dropped to near brownout levels
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable()
      Clear sticky fault: Device boot while detecting the enable signal

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds)
      Clear sticky fault: Device boot while detecting the enable signal
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public StatusCode clearStickyFault_UnlicensedFeatureInUse()
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command