`phoenix6.hardware.core.core_candi`¶

Module Contents¶

class phoenix6.hardware.core.core_candi.CoreCANdi(device_id: int, canbus: phoenix6.canbus.CANBus)¶

Bases: phoenix6.hardware.parent_device.ParentDevice

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

property sim_state: phoenix6.sim.candi_sim_state.CANdiSimState¶

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
Return type:: CANdiSimState

Configuration¶: The configuration class for this device.

configurator¶

classmethod none()¶

Constructs a stubbed-out CoreCANdi, 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 CoreCANdi
Return type:: CoreCANdi

get_version_major(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_is_pro_licensed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_s1_state(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.S1StateValue]¶

State of the Signal 1 input (S1IN).

Default Value: S1StateValue.FLOATING

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S1State Status Signal Object
Return type:: StatusSignal[S1StateValue]

get_s2_state(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.S2StateValue]¶

State of the Signal 2 input (S2IN).

Default Value: S2StateValue.FLOATING

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S2State Status Signal Object
Return type:: StatusSignal[S2StateValue]

get_quadrature_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Position from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuadraturePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_pwm1_rise_to_rise(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microsecond]¶

Measured rise to rise time of the PWM signal at the S1 input of the CTR Electronics’ CANdi™.

Minimum Value: 0
Maximum Value: 131070
Default Value: 0
Units: us

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM1RiseToRise Status Signal Object
Return type:: StatusSignal[microsecond]

get_pwm1_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Measured position of the PWM sensor at the S1 input of the CTR Electronics’ CANdi™.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM1Position Status Signal Object
Return type:: StatusSignal[rotation]

get_pwm1_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Measured velocity of the PWM sensor at the S1 input of the CTR Electronics’ CANdi™.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM1Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_pwm2_rise_to_rise(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microsecond]¶

Measured rise to rise time of the PWM signal at the S2 input of the CTR Electronics’ CANdi™.

Minimum Value: 0
Maximum Value: 131070
Default Value: 0
Units: us

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM2RiseToRise Status Signal Object
Return type:: StatusSignal[microsecond]

get_pwm2_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Measured position of the PWM sensor at the S2 input of the CTR Electronics’ CANdi™.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM2Position Status Signal Object
Return type:: StatusSignal[rotation]

get_overcurrent(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

True when the CANdi™ is in overcurrent protection mode. This may be due to either overcurrent or a short-circuit.

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Overcurrent Status Signal Object
Return type:: StatusSignal[bool]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the CANdi™.

Minimum Value: 4.0
Maximum Value: 29.5
Default Value: 0
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_output_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]¶

Measured output current. This includes both Vbat and 5V output current.

Minimum Value: 0.0
Maximum Value: 0.51
Default Value: 0
Units: A

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: OutputCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_pwm2_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Measured velocity of the PWM sensor at the S2 input of the CTR Electronics’ CANdi™.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM2Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_quadrature_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Velocity from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuadratureVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_s1_closed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

True if the Signal 1 input (S1IN) matches the configured S1 Closed State.

Configure the S1 closed state in the Digitals configuration object to change when this is asserted.

Default Value: False

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S1Closed Status Signal Object
Return type:: StatusSignal[bool]

get_s2_closed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

True if the Signal 2 input (S2IN) matches the configured S2 Closed State.

Configure the S2 closed state in the Digitals configuration object to change when this is asserted.

Default Value: False

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S2Closed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_5_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The CTR Electronics’ CANdi™ branded device has detected a 5V fault. This may be due to overcurrent or a short-circuit.

Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_5V Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_5_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The CTR Electronics’ CANdi™ branded device has detected a 5V fault. This may be due to overcurrent or a short-circuit.

Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_5V Status Signal Object
Return type:: StatusSignal[bool]

set_quadrature_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Sets the position of the quadrature input.

Parameters:

new_value (rotation) – Value to set to. Units are in rotations.
timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

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:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Hardware fault occurred

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Device supply voltage dropped to near brownout levels

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Device boot while detecting the enable signal

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_5_v(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: The CTR Electronics’ CANdi™ branded device has detected a 5V fault. This may be due to overcurrent or a short-circuit.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

phoenix6.hardware.core.core_candi¶

Module Contents¶

`phoenix6.hardware.core.core_candi`¶