Class for CANdi, a CAN digital input device that detects when a digital signal is asserted or deasserted. More...

#include <ctre/phoenix6/CANdi.hpp>

Inheritance diagram for ctre::phoenix6::hardware::CANdi:

Public Member Functions
	CANdi (int deviceId, std::string canbus="")
	Constructs a new CANdi object.

	CANdi (int deviceId, CANBus canbus)
	Constructs a new CANdi object.

	~CANdi ()

void	InitSendable (wpi::SendableBuilder &builder) override

Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreCANdi
	CoreCANdi (int deviceId, std::string canbus="")
	Constructs a new CANdi object.

	CoreCANdi (int deviceId, CANBus canbus)
	Constructs a new CANdi object.

configs::CANdiConfigurator &	GetConfigurator ()
	Gets the configurator for this CANdi.

configs::CANdiConfigurator const &	GetConfigurator () const
	Gets the configurator for this CANdi.

sim::CANdiSimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.

StatusSignal< signals::S1StateValue > &	GetS1State (bool refresh=true)
	State of the Signal 1 input (S1IN).

StatusSignal< signals::S2StateValue > &	GetS2State (bool refresh=true)
	State of the Signal 2 input (S2IN).

StatusSignal< units::angle::turn_t > &	GetQuadraturePosition (bool refresh=true)
	Position from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

StatusSignal< units::time::microsecond_t > &	GetPWM1RiseToRise (bool refresh=true)
	Measured rise to rise time of the PWM signal at the S1 input of CANdi.

StatusSignal< units::angle::turn_t > &	GetPWM1Position (bool refresh=true)
	Measured position of the PWM sensor at the S1 input of CANdi.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetPWM1Velocity (bool refresh=true)
	Measured velocity of the PWM sensor at the S1 input of CANdi.

StatusSignal< units::time::microsecond_t > &	GetPWM2RiseToRise (bool refresh=true)
	Measured rise to rise time of the PWM signal at the S2 input of CANdi.

StatusSignal< units::angle::turn_t > &	GetPWM2Position (bool refresh=true)
	Measured position of the PWM sensor at the S2 input of CANdi.

StatusSignal< bool > &	GetOvercurrent (bool refresh=true)
	True when the CANdi is in overcurrent protection mode.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the CANdi.

StatusSignal< units::current::ampere_t > &	GetOutputCurrent (bool refresh=true)
	Measured output current.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetPWM2Velocity (bool refresh=true)
	Measured velocity of the PWM sensor at the S2 input of CANdi.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetQuadratureVelocity (bool refresh=true)
	Velocity from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

StatusSignal< bool > &	GetS1Closed (bool refresh=true)
	True if the Signal 1 input (S1IN) matches the configured S1 Closed State.

StatusSignal< bool > &	GetS2Closed (bool refresh=true)
	True if the Signal 2 input (S2IN) matches the configured S2 Closed State.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_5V (bool refresh=true)
	CANdi has detected a 5V fault.

StatusSignal< bool > &	GetStickyFault_5V (bool refresh=true)
	CANdi has detected a 5V fault.

ctre::phoenix::StatusCode	SetControl (const controls::ControlRequest &request)
	Control device with generic control request object.

ctre::phoenix::StatusCode	SetQuadraturePosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
	Sets the position of the quadrature input.

ctre::phoenix::StatusCode	SetQuadraturePosition (units::angle::turn_t newValue)
	Sets the position of the quadrature input.

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

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

ctre::phoenix::StatusCode	ClearStickyFault_5V (units::time::second_t timeoutSeconds)
	Clear sticky fault: CANdi has detected a 5V fault.

ctre::phoenix::StatusCode	ClearStickyFault_5V ()
	Clear sticky fault: CANdi has detected a 5V fault.

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)

virtual	~ParentDevice ()=default

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const

const std::string &	GetNetwork () const

uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control.

bool	HasResetOccurred ()

std::function< bool()>	GetResetOccurredChecker () const

bool	IsConnected (units::second_t maxLatencySeconds=500_ms)
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)
	Resets the update frequencies of all the device's status signals to the defaults.

Additional Inherited Members
Public Types inherited from ctre::phoenix6::hardware::core::CoreCANdi
using	Configuration = configs::CANdiConfiguration

Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::vector< ParentDevice * > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

template<size_t N>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::array< ParentDevice *, N > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (const controls::ControlRequest &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::function< std::map< uint16_t, std::string >()> mapFiller, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh)
	Returns a unitless version of the StatusSignal by value.

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static controls::EmptyControl	_emptyControl {}

template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are subclasses of ParentDevice.

Detailed Description

Class for CANdi, a CAN digital input device that detects when a digital signal is asserted or deasserted.

Constructor & Destructor Documentation

◆ CANdi() [1/2]

ctre::phoenix6::hardware::CANdi::CANdi	(	int	deviceId,
		std::string	canbus = "" )

Constructs a new CANdi 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

◆ CANdi() [2/2]

ctre::phoenix6::hardware::CANdi::CANdi	(	int	deviceId,
		CANBus	canbus )

inline

Constructs a new CANdi object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	The CAN bus this device is on.

◆ ~CANdi()

ctre::phoenix6::hardware::CANdi::~CANdi ( )

Member Function Documentation

◆ InitSendable()

void ctre::phoenix6::hardware::CANdi::InitSendable ( wpi::SendableBuilder & builder )

override

The documentation for this class was generated from the following file:

ctre/phoenix6/CANdi.hpp

Public Member Functions