Class for CTR Electronics' CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network. More...

#include <ctre/phoenix6/CANdi.hpp>

Inheritance diagram for ctre::phoenix6::hardware::CANdi:

Public Member Functions
	CANdi (int deviceId, CANBus canbus={})
	Constructs a new CANdi object.

	CANdi (int deviceId, std::string canbus)
	Constructs a new CANdi object.

	~CANdi ()

void	InitSendable (wpi::SendableBuilder &builder) override

Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreCANdi
	CoreCANdi (int deviceId, CANBus canbus={})
	Constructs a new CANdi object.

	CoreCANdi (int deviceId, std::string canbus)
	Constructs a new CANdi object.

configs::CANdiConfigurator &	GetConfigurator ()
	Gets the configurator for this CANdi.

configs::CANdiConfigurator const &	GetConfigurator () const
	Gets the configurator for this CANdi.

sim::CANdiSimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.

StatusSignal< signals::S1StateValue > &	GetS1State (bool refresh=true)
	State of the Signal 1 input (S1IN).

StatusSignal< signals::S2StateValue > &	GetS2State (bool refresh=true)
	State of the Signal 2 input (S2IN).

StatusSignal< units::angle::turn_t > &	GetQuadraturePosition (bool refresh=true)
	Position from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

StatusSignal< units::time::microsecond_t > &	GetPWM1RiseToRise (bool refresh=true)
	Measured rise to rise time of the PWM signal at the S1 input of the CTR Electronics' CANdi™.

StatusSignal< units::angle::turn_t > &	GetPWM1Position (bool refresh=true)
	Measured position of the PWM sensor at the S1 input of the CTR Electronics' CANdi™.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetPWM1Velocity (bool refresh=true)
	Measured velocity of the PWM sensor at the S1 input of the CTR Electronics' CANdi™.

StatusSignal< units::time::microsecond_t > &	GetPWM2RiseToRise (bool refresh=true)
	Measured rise to rise time of the PWM signal at the S2 input of the CTR Electronics' CANdi™.

StatusSignal< units::angle::turn_t > &	GetPWM2Position (bool refresh=true)
	Measured position of the PWM sensor at the S2 input of the CTR Electronics' CANdi™.

StatusSignal< bool > &	GetOvercurrent (bool refresh=true)
	True when the CANdi™ is in overcurrent protection mode.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the CANdi™.

StatusSignal< units::current::ampere_t > &	GetOutputCurrent (bool refresh=true)
	Measured output current.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetPWM2Velocity (bool refresh=true)
	Measured velocity of the PWM sensor at the S2 input of the CTR Electronics' CANdi™.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetQuadratureVelocity (bool refresh=true)
	Velocity from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

StatusSignal< bool > &	GetS1Closed (bool refresh=true)
	True if the Signal 1 input (S1IN) matches the configured S1 Closed State.

StatusSignal< bool > &	GetS2Closed (bool refresh=true)
	True if the Signal 2 input (S2IN) matches the configured S2 Closed State.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_5V (bool refresh=true)
	The CTR Electronics' CANdi™ branded device has detected a 5V fault.

StatusSignal< bool > &	GetStickyFault_5V (bool refresh=true)
	The CTR Electronics' CANdi™ branded device has detected a 5V fault.

ctre::phoenix::StatusCode	SetQuadraturePosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
	Sets the position of the quadrature input.

ctre::phoenix::StatusCode	SetQuadraturePosition (units::angle::turn_t newValue)
	Sets the position of the quadrature input.

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse ()
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_5V (units::time::second_t timeoutSeconds)
	Clear sticky fault: The CTR Electronics' CANdi™ branded device has detected a 5V fault.

ctre::phoenix::StatusCode	ClearStickyFault_5V ()
	Clear sticky fault: The CTR Electronics' CANdi™ branded device has detected a 5V fault.

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, CANBus canbus)

virtual	~ParentDevice ()=0

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const final

CANBus	GetNetwork () const final

uint64_t	GetDeviceHash () const final
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< controls::ControlRequest const >	GetAppliedControl () const final
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl () final
	Get the latest applied control.

bool	HasResetOccurred () final

std::function< bool()>	GetResetOccurredChecker () const final

bool	IsConnected (units::second_t maxLatencySeconds=500_ms) final
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms) final
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms) final
	Resets the update frequencies of all the device's status signals to the defaults.

Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice
virtual	~CommonDevice ()=default

Static Public Member Functions
static CANdi	None ()
	Constructs a stubbed-out CANdi, where all status signals, controls, configs, etc.

Static Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreCANdi
static CoreCANdi	None ()
	Constructs a stubbed-out CoreCANdi, where all status signals, controls, configs, etc.

Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (std::span< traits::CommonDevice *const > devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Additional Inherited Members
Public Types inherited from ctre::phoenix6::hardware::core::CoreCANdi
using	Configuration = configs::CANdiConfiguration
	The configuration class for this device.

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest const &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, std::function< std::map< uint16_t, std::string >()> mapFiller, bool reportOnConstruction, bool refresh)

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr controls::EmptyControl	_emptyControl {}

Detailed Description

Class for CTR Electronics' CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network.

Constructor & Destructor Documentation

◆ CANdi() [1/2]

ctre::phoenix6::hardware::CANdi::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() [2/2]

ctre::phoenix6::hardware::CANdi::CANdi	(	int	deviceId,
		std::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

Deprecated: Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.

◆ ~CANdi()

ctre::phoenix6::hardware::CANdi::~CANdi ( )

Member Function Documentation

◆ InitSendable()

void ctre::phoenix6::hardware::CANdi::InitSendable ( wpi::SendableBuilder & builder )

override

◆ None()

static CANdi ctre::phoenix6::hardware::CANdi::None ( )

inlinestatic

Constructs a stubbed-out CANdi, where all status signals, controls, configs, etc.

perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.

Returns: Stubbed-out CANdi

The documentation for this class was generated from the following file:

ctre/phoenix6/CANdi.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members