`phoenix6.hardware.core.core_canrange`¶

Module Contents¶

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

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new CANrange 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.canrange_sim_state.CANrangeSimState¶

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:: CANrangeSimState

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 CANrange.

Minimum Value: 4

Maximum Value: 16.75

Default Value: 4

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

Distance to the nearest object in the configured field of view of the CANrange.

Minimum Value: 0.0

Maximum Value: 65.535

Default Value: 0

Units: m

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:: Distance Status Signal Object
Return type:: StatusSignal[meter]

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

Timestamp of the most recent measurements. This is not synchronized to any other clock source.

Users can use this to check when the measurements are updated.

Minimum Value: 0.0

Maximum Value: 65.535

Default Value: 0

Units: s

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:: MeasurementTime Status Signal Object
Return type:: StatusSignal[second]

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

Approximate signal strength of the measurement. A higher value indicates a higher strength of signal.

A value of ~2500 is typical when detecting an object under short-range conditions.

Minimum Value: 0

Maximum Value: 65535

Default Value: 0

Units:

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:: SignalStrength Status Signal Object
Return type:: StatusSignal[float]

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

Whether the CANrange detects an object using the configured proximity parameters.

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

get_measurement_health(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MeasurementHealthValue]¶

Health of the distance measurement.

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:: MeasurementHealth Status Signal Object
Return type:: StatusSignal[MeasurementHealthValue]

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

The amount of ambient infrared light that the sensor is detecting. For ideal operation, this should be as low as possible.

Short-range mode reduces the influence of ambient infrared light.

Minimum Value: 0

Maximum Value: 65535

Default Value: 0

Units:

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:: AmbientSignal Status Signal Object
Return type:: StatusSignal[float]

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

Standard Deviation of the distance measurement.

Minimum Value: 0.0

Maximum Value: 1.3107000000000002

Default Value: 0

Units: m

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:: DistanceStdDev Status Signal Object
Return type:: StatusSignal[meter]

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

The actual center of the FOV in the X direction. This takes into account the user-configured FOVCenterX and FOVRangeX.

Minimum Value: -16.0

Maximum Value: 15.875

Default Value: 0

Units: deg

Default Rates:

CAN 2.0: 4.0 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:: RealFOVCenterX Status Signal Object
Return type:: StatusSignal[degree]

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

The actual center of the FOV in the Y direction. This takes into account the user-configured FOVCenterY and FOVRangeY.

Minimum Value: -16.0

Maximum Value: 15.875

Default Value: 0

Units: deg

Default Rates:

CAN 2.0: 4.0 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:: RealFOVCenterY Status Signal Object
Return type:: StatusSignal[degree]

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

The actual range of the FOV in the X direction. This takes into account the user-configured FOVRangeX.

Minimum Value: 0.0

Maximum Value: 31.875

Default Value: 0

Units: deg

Default Rates:

CAN 2.0: 4.0 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:: RealFOVRangeX Status Signal Object
Return type:: StatusSignal[degree]

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

The actual range of the FOV in the Y direction. This takes into account the user-configured FOVRangeY.

Minimum Value: 0.0

Maximum Value: 31.875

Default Value: 0

Units: deg

Default Rates:

CAN 2.0: 4.0 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:: RealFOVRangeY Status Signal Object
Return type:: StatusSignal[degree]

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]

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

phoenix6.hardware.core.core_canrange¶

Module Contents¶

`phoenix6.hardware.core.core_canrange`¶