phoenix6.hardware.candi

Module Contents

class phoenix6.hardware.candi.CANdi(device_id: int, canbus: phoenix6.canbus.CANBus)

Bases: phoenix6.hardware.core.core_candi.CoreCANdi

Class for CTR Electronics’ CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network.

Constructs a new CANdi object.

Parameters:

  • device_id (int) – ID of the device, as configured in Phoenix Tuner

  • canbus (CANBus) – The CAN bus this device is on

classmethod none() → Self

Constructs a stubbed-out CANdi, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.

Returns:

Stubbed-out CANdi

Return type:

CANdi

close()