Package com.ctre.phoenix6.unmanaged

Class Unmanaged

java.lang.Object

com.ctre.phoenix6.jni.CtreJniWrapper

com.ctre.phoenix6.unmanaged.Unmanaged

public class Unmanaged
extends CtreJniWrapper

Handles enabling when used in a non-FRC manner

Constructor Summary

Constructors

Constructor	Description
Unmanaged()

Method Summary

Modifier and Type	Method	Description
static void	feedEnable(int timeoutMs)	Feed the robot enable.
static int	getApiCompliancy()	Gets this API's compliancy version
static boolean	getEnableState()
static int	getPhoenixVersion()
static void	loadPhoenix()	Calling this function will load and start the Phoenix background tasks.
static void	setPhoenixDiagnosticsStartTime(double startTimeSeconds)	Sets the duration of the delay before starting the Phoenix diagnostics server.

Methods inherited from class java.lang.Object

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

Constructor Details

Unmanaged

public Unmanaged()

Method Details

feedEnable

public static void feedEnable(int timeoutMs)

Feed the robot enable. This function does nothing on a roborio during FRC use.

If running an application in simulation, creating a WPI_* object automatically enables actuators. Otherwise, call this to enable actuators.

Parameters:

timeoutMs - Timeout before disabling

getEnableState

public static boolean getEnableState()

Returns:

true if non-FRC enabled

getPhoenixVersion

public static int getPhoenixVersion()

Returns:

Phoenix version

loadPhoenix

public static void loadPhoenix()

Calling this function will load and start the Phoenix background tasks. This can be useful if you need the Enable/Disable functionality for CAN devices but aren't using any of the CAN device classes. This function does NOT need to be called if you are using any of the Phoenix CAN device classes.

setPhoenixDiagnosticsStartTime

public static void setPhoenixDiagnosticsStartTime(double startTimeSeconds)

Sets the duration of the delay before starting the Phoenix diagnostics server.

Parameters:

startTimeSeconds - Magnitude of the delay (in seconds) before starting the server. A value of 0 will start the server immediately. A negative value will signal the server to shutdown or never start.

getApiCompliancy

public static int getApiCompliancy()

Gets this API's compliancy version

This is purely used to check compliancy of API against firmware, and if there is a mismatch to report to the user.

Returns:

This API's compliancy version