`phoenix6.hardware.core.core_candle`¶

Module Contents¶

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

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new CANdle 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.candle_sim_state.CANdleSimState¶

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:: CANdleSimState

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

Measured supply voltage to the CANdle.

Minimum Value: 0.0
Maximum Value: 32.767
Default Value: 0
Units: V

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 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_five_v_rail_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

The measured voltage of the 5V rail line.

Minimum Value: 0.0
Maximum Value: 10.23
Default Value: 0
Units: V

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 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:: FiveVRailVoltage Status Signal Object
Return type:: StatusSignal[volt]

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

The measured output current. This includes both VBat and 5V output current.

Minimum Value: 0.0
Maximum Value: 10.23
Default Value: 0
Units: A

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 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_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]¶

The temperature that the CANdle measures itself to be at.

Minimum Value: -128
Maximum Value: 127
Default Value: 0
Units: ℃

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 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:: DeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

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

The applied VBat modulation duty cycle.

This signal will report 1.0 if the VBatOutputMode is configured to be always on, and 0.0 if configured to be always off. Otherwise, this will report the applied modulation from the last ModulateVBatOut request.

Minimum Value: 0.0
Maximum Value: 1.0
Default Value: 0
Units: frac

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 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:: VBatModulation Status Signal Object
Return type:: StatusSignal[float]

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

The maximum number of simultaneous animations supported by the current version of CANdle firmware.

Any control request using an animation slot greater than or equal to this signal will be ignored.

Minimum Value: 0
Maximum Value: 31
Default Value: 0
Units:

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 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:: MaxSimultaneousAnimationCount Status Signal Object
Return type:: StatusSignal[int]

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

Device supply voltage is too high (above 30 V).

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_Overvoltage Status Signal Object
Return type:: StatusSignal[bool]

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

Device supply voltage is too high (above 30 V).

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_Overvoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_5_v_too_high(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device 5V line is too high (above 6 V).

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_5VTooHigh Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_5_v_too_high(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device 5V line is too high (above 6 V).

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_5VTooHigh Status Signal Object
Return type:: StatusSignal[bool]

get_fault_5_v_too_low(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device 5V line is too low (below 4 V).

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_5VTooLow Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_5_v_too_low(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device 5V line is too low (below 4 V).

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_5VTooLow Status Signal Object
Return type:: StatusSignal[bool]

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

Device temperature exceeded limit.

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_Thermal Status Signal Object
Return type:: StatusSignal[bool]

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

Device temperature exceeded limit.

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_Thermal Status Signal Object
Return type:: StatusSignal[bool]

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

CANdle output current exceeded the 6 A limit.

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_SoftwareFuse Status Signal Object
Return type:: StatusSignal[bool]

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

CANdle output current exceeded the 6 A limit.

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_SoftwareFuse Status Signal Object
Return type:: StatusSignal[bool]

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

CANdle has detected the output pin is shorted.

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_ShortCircuit Status Signal Object
Return type:: StatusSignal[bool]

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

CANdle has detected the output pin is shorted.

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_ShortCircuit Status Signal Object
Return type:: StatusSignal[bool]

set_control(request: phoenix6.controls.modulate_v_bat_out.ModulateVBatOut) → phoenix6.status_signal.StatusCode¶
set_control(request: phoenix6.controls.solid_color.SolidColor) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.empty_animation.EmptyAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.color_flow_animation.ColorFlowAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.fire_animation.FireAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.larson_animation.LarsonAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.rainbow_animation.RainbowAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.rgb_fade_animation.RgbFadeAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.single_fade_animation.SingleFadeAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.strobe_animation.StrobeAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.twinkle_animation.TwinkleAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.controls.twinkle_off_animation.TwinkleOffAnimation) → phoenix6.status_signal.StatusCode
set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) → phoenix6.status_signal.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_overvoltage(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Device supply voltage is too high (above 30 V).

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_too_high(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Device 5V line is too high (above 6 V).

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_too_low(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Device 5V line is too low (below 4 V).

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

clear_sticky_fault_thermal(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Device temperature exceeded limit.

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

clear_sticky_fault_software_fuse(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: CANdle output current exceeded the 6 A limit.

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

clear_sticky_fault_short_circuit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: CANdle has detected the output pin is shorted.

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_candle¶

Module Contents¶

`phoenix6.hardware.core.core_candle`¶