`phoenix6.hardware.core.core_candi`¶

Module Contents¶

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

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new CANdi object.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, optional) –
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

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

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 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 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 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 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 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 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 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 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]¶

CANdi 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]¶

CANdi 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_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) → phoenix6.status_signal.StatusCode¶

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

Clear sticky fault: CANdi 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`¶