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

#include <ctre/phoenix6/core/CoreCANdi.hpp>

Inheritance diagram for ctre::phoenix6::hardware::core::CoreCANdi:

Public Types
using	Configuration = configs::CANdiConfiguration
	The configuration class for this device.

Public Member Functions
	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 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
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.

Member Typedef Documentation

◆ Configuration

using ctre::phoenix6::hardware::core::CoreCANdi::Configuration = configs::CANdiConfiguration

The configuration class for this device.

Constructor & Destructor Documentation

◆ CoreCANdi() [1/2]

ctre::phoenix6::hardware::core::CoreCANdi::CoreCANdi	(	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

◆ CoreCANdi() [2/2]

ctre::phoenix6::hardware::core::CoreCANdi::CoreCANdi	(	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.

Member Function Documentation

◆ ClearStickyFault_5V() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_5V ( )

inline

Clear sticky fault: The CTR Electronics' CANdi™ branded device has detected a 5V fault.

This may be due to overcurrent or a short-circuit.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_5V() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_5V ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: The CTR Electronics' CANdi™ branded device has detected a 5V fault.

This may be due to overcurrent or a short-circuit.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_BootDuringEnable ( )

inline

Clear sticky fault: Device boot while detecting the enable signal.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device boot while detecting the enable signal.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_Hardware ( )

inline

Clear sticky fault: Hardware fault occurred.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Hardware fault occurred.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_Undervoltage ( )

inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_UnlicensedFeatureInUse ( )

inline

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFault_UnlicensedFeatureInUse ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFaults ( )

inline

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.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::ClearStickyFaults ( units::time::second_t timeoutSeconds )

inline

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

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ GetConfigurator() [1/2]

configs::CANdiConfigurator & ctre::phoenix6::hardware::core::CoreCANdi::GetConfigurator ( )

inline

Gets the configurator for this CANdi.

Gets the configurator for this CANdi

Returns: Configurator for this CANdi

◆ GetConfigurator() [2/2]

configs::CANdiConfigurator const & ctre::phoenix6::hardware::core::CoreCANdi::GetConfigurator ( ) const

inline

Gets the configurator for this CANdi.

Gets the configurator for this CANdi

Returns: Configurator for this CANdi

◆ GetFault_5V()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetFault_5V ( bool refresh = true )

The CTR Electronics' CANdi™ branded device 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_5V Status Signal Object

◆ GetFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetFault_BootDuringEnable ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootDuringEnable Status Signal Object

◆ GetFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetFault_Hardware ( bool refresh = true )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_Hardware Status Signal Object

◆ GetFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetFault_Undervoltage ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_Undervoltage Status Signal Object

◆ GetFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetFault_UnlicensedFeatureInUse ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_UnlicensedFeatureInUse Status Signal Object

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetFaultField ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: FaultField Status Signal Object

◆ GetIsProLicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetIsProLicensed ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: IsProLicensed Status Signal Object

◆ GetOutputCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetOutputCurrent ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: OutputCurrent Status Signal Object

◆ GetOvercurrent()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetOvercurrent ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Overcurrent Status Signal Object

◆ GetPWM1Position()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetPWM1Position ( bool refresh = true )

Measured position of the PWM sensor at the S1 input of the CTR Electronics' 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: PWM1Position Status Signal Object

◆ GetPWM1RiseToRise()

StatusSignal< units::time::microsecond_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetPWM1RiseToRise ( bool refresh = true )

Measured rise to rise time of the PWM signal at the S1 input of the CTR Electronics' 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: PWM1RiseToRise Status Signal Object

◆ GetPWM1Velocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetPWM1Velocity ( bool refresh = true )

Measured velocity of the PWM sensor at the S1 input of the CTR Electronics' 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: PWM1Velocity Status Signal Object

◆ GetPWM2Position()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetPWM2Position ( bool refresh = true )

Measured position of the PWM sensor at the S2 input of the CTR Electronics' 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: PWM2Position Status Signal Object

◆ GetPWM2RiseToRise()

StatusSignal< units::time::microsecond_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetPWM2RiseToRise ( bool refresh = true )

Measured rise to rise time of the PWM signal at the S2 input of the CTR Electronics' 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: PWM2RiseToRise Status Signal Object

◆ GetPWM2Velocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetPWM2Velocity ( bool refresh = true )

Measured velocity of the PWM sensor at the S2 input of the CTR Electronics' 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: PWM2Velocity Status Signal Object

◆ GetQuadraturePosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetQuadraturePosition ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: QuadraturePosition Status Signal Object

◆ GetQuadratureVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetQuadratureVelocity ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: QuadratureVelocity Status Signal Object

◆ GetS1Closed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetS1Closed ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: S1Closed Status Signal Object

◆ GetS1State()

StatusSignal< signals::S1StateValue > & ctre::phoenix6::hardware::core::CoreCANdi::GetS1State ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: S1State Status Signal Object

◆ GetS2Closed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetS2Closed ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: S2Closed Status Signal Object

◆ GetS2State()

StatusSignal< signals::S2StateValue > & ctre::phoenix6::hardware::core::CoreCANdi::GetS2State ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: S2State Status Signal Object

◆ GetSimState()

sim::CANdiSimState & ctre::phoenix6::hardware::core::CoreCANdi::GetSimState ( )

inline

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

◆ GetStickyFault_5V()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetStickyFault_5V ( bool refresh = true )

The CTR Electronics' CANdi™ branded device 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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_5V Status Signal Object

◆ GetStickyFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetStickyFault_BootDuringEnable ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootDuringEnable Status Signal Object

◆ GetStickyFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetStickyFault_Hardware ( bool refresh = true )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_Hardware Status Signal Object

◆ GetStickyFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetStickyFault_Undervoltage ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_Undervoltage Status Signal Object

◆ GetStickyFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANdi::GetStickyFault_UnlicensedFeatureInUse ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_UnlicensedFeatureInUse Status Signal Object

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetStickyFaultField ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFaultField Status Signal Object

◆ GetSupplyVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreCANdi::GetSupplyVoltage ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: SupplyVoltage Status Signal Object

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetVersion ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Version Status Signal Object

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetVersionBugfix ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionBugfix Status Signal Object

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetVersionBuild ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionBuild Status Signal Object

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetVersionMajor ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionMajor Status Signal Object

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANdi::GetVersionMinor ( bool refresh = true )

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 Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionMinor Status Signal Object

◆ None()

static CoreCANdi ctre::phoenix6::hardware::core::CoreCANdi::None ( )

inlinestatic

Constructs a stubbed-out CoreCANdi, 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 CoreCANdi

◆ SetQuadraturePosition() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::SetQuadraturePosition ( units::angle::turn_t newValue )

inline

Sets the position of the quadrature input.

This will wait up to 0.100 seconds (100ms) by default.

Parameters

newValue Value to set to. Units are in rotations.

Returns: StatusCode of the set command

◆ SetQuadraturePosition() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANdi::SetQuadraturePosition	(	units::angle::turn_t	newValue,
		units::time::second_t	timeoutSeconds )

inline

Sets the position of the quadrature input.

Parameters

newValue	Value to set to. Units are in rotations.
timeoutSeconds	Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

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

ctre/phoenix6/core/CoreCANdi.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Configuration

Constructor & Destructor Documentation

◆ CoreCANdi() [1/2]

◆ CoreCANdi() [2/2]

Member Function Documentation

◆ ClearStickyFault_5V() [1/2]

◆ ClearStickyFault_5V() [2/2]

◆ ClearStickyFault_BootDuringEnable() [1/2]

◆ ClearStickyFault_BootDuringEnable() [2/2]

◆ ClearStickyFault_Hardware() [1/2]

◆ ClearStickyFault_Hardware() [2/2]

◆ ClearStickyFault_Undervoltage() [1/2]

◆ ClearStickyFault_Undervoltage() [2/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

◆ ClearStickyFaults() [1/2]

◆ ClearStickyFaults() [2/2]

◆ GetConfigurator() [1/2]

◆ GetConfigurator() [2/2]

◆ GetFault_5V()

◆ GetFault_BootDuringEnable()

◆ GetFault_Hardware()

◆ GetFault_Undervoltage()

◆ GetFault_UnlicensedFeatureInUse()

◆ GetFaultField()

◆ GetIsProLicensed()

◆ GetOutputCurrent()

◆ GetOvercurrent()

◆ GetPWM1Position()

◆ GetPWM1RiseToRise()

◆ GetPWM1Velocity()

◆ GetPWM2Position()

◆ GetPWM2RiseToRise()

◆ GetPWM2Velocity()

◆ GetQuadraturePosition()

◆ GetQuadratureVelocity()

◆ GetS1Closed()

◆ GetS1State()

◆ GetS2Closed()

◆ GetS2State()

◆ GetSimState()

◆ GetStickyFault_5V()

◆ GetStickyFault_BootDuringEnable()

◆ GetStickyFault_Hardware()

◆ GetStickyFault_Undervoltage()

◆ GetStickyFault_UnlicensedFeatureInUse()

◆ GetStickyFaultField()

◆ GetSupplyVoltage()

◆ GetVersion()

◆ GetVersionBugfix()

◆ GetVersionBuild()

◆ GetVersionMajor()

◆ GetVersionMinor()

◆ None()

◆ SetQuadraturePosition() [1/2]

◆ SetQuadraturePosition() [2/2]