Package com.ctre.phoenix6.hardware

Class CANdi

java.lang.Object

com.ctre.phoenix6.jni.CtreJniWrapper

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CoreCANdi

com.ctre.phoenix6.hardware.CANdi

All Implemented Interfaces:

Sendable, AutoCloseable

public class CANdi
extends CoreCANdi
implements Sendable, AutoCloseable

WPILib-integrated version of CoreCANdi

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenix6.hardware.ParentDevice

ParentDevice.MapGenerator<T>

Field Summary

Fields inherited from class com.ctre.phoenix6.hardware.ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	close()
void	initSendable(SendableBuilder builder)

Methods inherited from class com.ctre.phoenix6.hardware.core.CoreCANdi

clearStickyFault_5V, clearStickyFault_5V, clearStickyFault_BootDuringEnable, clearStickyFault_BootDuringEnable, clearStickyFault_Hardware, clearStickyFault_Hardware, clearStickyFault_Undervoltage, clearStickyFault_Undervoltage, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnlicensedFeatureInUse, clearStickyFaults, clearStickyFaults, getConfigurator, getFault_5V, getFault_5V, getFault_BootDuringEnable, getFault_BootDuringEnable, getFault_Hardware, getFault_Hardware, getFault_Undervoltage, getFault_Undervoltage, getFault_UnlicensedFeatureInUse, getFault_UnlicensedFeatureInUse, getFaultField, getFaultField, getIsProLicensed, getIsProLicensed, getOutputCurrent, getOutputCurrent, getOvercurrent, getOvercurrent, getPWM1Position, getPWM1Position, getPWM1RiseToRise, getPWM1RiseToRise, getPWM1Velocity, getPWM1Velocity, getPWM2Position, getPWM2Position, getPWM2RiseToRise, getPWM2RiseToRise, getPWM2Velocity, getPWM2Velocity, getQuadraturePosition, getQuadraturePosition, getQuadratureVelocity, getQuadratureVelocity, getS1Closed, getS1Closed, getS1State, getS1State, getS2Closed, getS2Closed, getS2State, getS2State, getSimState, getStickyFault_5V, getStickyFault_5V, getStickyFault_BootDuringEnable, getStickyFault_BootDuringEnable, getStickyFault_Hardware, getStickyFault_Hardware, getStickyFault_Undervoltage, getStickyFault_Undervoltage, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnlicensedFeatureInUse, getStickyFaultField, getStickyFaultField, getSupplyVoltage, getSupplyVoltage, getVersion, getVersion, getVersionBugfix, getVersionBugfix, getVersionBuild, getVersionBuild, getVersionMajor, getVersionMajor, getVersionMinor, getVersionMinor, setControl, setQuadraturePosition, setQuadraturePosition, setQuadraturePosition, setQuadraturePosition

Methods inherited from class com.ctre.phoenix6.hardware.ParentDevice

getAppliedControl, getDeviceHash, getDeviceID, getNetwork, getResetOccurredChecker, hasResetOccurred, isConnected, isConnected, lookupStatusSignal, lookupStatusSignal, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, resetSignalFrequencies, resetSignalFrequencies, resetSignalFrequenciesForAll, setControlPrivate

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

CANdi

public CANdi(int deviceId)

Constructs a new CANdi 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.

CANdi

public CANdi(int deviceId,
 CANBus canbus)

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

public CANdi(int deviceId,
 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

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable