phoenix6.canbus

Module Contents

Attributes

USE_WPILIB

phoenix6.canbus.USE_WPILIB = 'True'
class phoenix6.canbus.CANState

Bases: enum.Enum

Possible states of the CAN bus.

ERROR_ACTIVE = '0'

The controller is in normal operation.

ERROR_WARNING = '1'

The controller has detected errors and is approaching the Error Passive state.

ERROR_PASSIVE = '2'

The controller is in the “Error Passive” state and has detected many errors.

BUS_OFF = '3'

The controller is in the “Bus Off” state after detecting too many errors.

STOPPED = '4'

The controller has been manually stopped.

SLEEPING = '5'

The controller has entered low-power sleep mode.

class phoenix6.canbus.CANBusStatus

Contains status information about a CAN bus.

status: phoenix6.status_code.StatusCode

Status code response of getting the data

bus_utilization: float = '0'

CAN bus utilization, from 0.0 to 1.0

bus_off_count: int = '0'

Bus off count

bus_error_count: int = '0'

Bus error count

arbitration_lost_count: int = '0'

Arbitration lost count

restart_count: int = '0'

Restart count

tx_full_count: int = '0'

Transmit buffer full count

rec: int = '0'

Receive Error Counter (REC)

tec: int = '0'

Transmit Error Counter (TEC)

state: CANState

CAN state

WPIStruct
class phoenix6.canbus.CANBus(canbus: str = '', /)
class phoenix6.canbus.CANBus(can_port: wpilib.CANPort, /)

Class for getting information about an available CAN bus.

Overloaded function.

  1. Creates a new CAN bus with the given name.

For the native Systemcore/Motioncore CAN buses, use CANBus(CANPort) instead.

Parameters:

canbus (str, optional) –

Name of the CAN bus. Possible CAN bus strings are:

  • ”can_s0” to “can_s4” for the native Systemcore CAN buses

  • ”can_d0” to “can_d19” for the Motioncore CAN buses

  • 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:

    • ”can_s2” on Systemcore

    • ”can0” on Linux

    • ”*” on Windows

  1. Creates a new CAN bus for one of the native Systemcore/Motioncore buses.

For the CANivore and non-FRC SocketCAN interfaces, use CANBus(str) instead.

Parameters:

can_port (CANPort) – The Systemcore/Motioncore CAN port

property name: str

Get the name used to construct this CAN bus.

Returns:

Name of the CAN bus

Return type:

str

is_network_fd() → bool

Gets whether the CAN bus is a CAN FD network.

Returns:

True if the CAN bus is CAN FD

Return type:

bool

get_status() → CANBusStatus

Gets the status of the CAN bus, including the bus utilization and the error counters.

This can block for up to 0.001 seconds (1 ms).

Returns:

Status of the CAN bus

Return type:

CANBusStatus