Package com.ctre.phoenix6.hardware

Class CANdle

java.lang.Object

com.ctre.phoenix6.jni.CtreJniWrapper

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CoreCANdle

com.ctre.phoenix6.hardware.CANdle

All Implemented Interfaces:

CommonDevice, Sendable, AutoCloseable

public class CANdle
extends CoreCANdle
implements Sendable, AutoCloseable

WPILib-integrated version of CoreCANdle.

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenix6.hardware.ParentDevice

ParentDevice.MapGenerator

Field Summary

Fields

Modifier and Type	Field	Description
static final int	kAnimSlotCount	The number of animation slots.

Fields inherited from class com.ctre.phoenix6.hardware.ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

Constructor	Description
CANdle(int deviceId)	Constructs a new CANdle object.
CANdle(int deviceId, CANBus canbus)	Constructs a new CANdle object.
CANdle(int deviceId, String canbus)	Deprecated, for removal: This API element is subject to removal in a future version. Constructing devices with a CAN bus string is deprecated for removal in the 2027 season.

Method Summary

Modifier and Type	Method	Description
final StatusCode	clearAllAnimations()	Clears all animations on the CANdle.
void	close()
void	initSendable(SendableBuilder builder)
static CANdle	none()	Constructs a stubbed-out CANdle, where all status signals, controls, configs, etc.

Methods inherited from class com.ctre.phoenix6.hardware.core.CoreCANdle

clearStickyFault_5VTooHigh, clearStickyFault_5VTooHigh, clearStickyFault_5VTooLow, clearStickyFault_5VTooLow, clearStickyFault_BootDuringEnable, clearStickyFault_BootDuringEnable, clearStickyFault_Hardware, clearStickyFault_Hardware, clearStickyFault_Overvoltage, clearStickyFault_Overvoltage, clearStickyFault_ShortCircuit, clearStickyFault_ShortCircuit, clearStickyFault_SoftwareFuse, clearStickyFault_SoftwareFuse, clearStickyFault_Thermal, clearStickyFault_Thermal, clearStickyFault_Undervoltage, clearStickyFault_Undervoltage, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnlicensedFeatureInUse, clearStickyFaults, clearStickyFaults, getConfigurator, getDeviceTemp, getDeviceTemp, getFault_5VTooHigh, getFault_5VTooHigh, getFault_5VTooLow, getFault_5VTooLow, getFault_BootDuringEnable, getFault_BootDuringEnable, getFault_Hardware, getFault_Hardware, getFault_Overvoltage, getFault_Overvoltage, getFault_ShortCircuit, getFault_ShortCircuit, getFault_SoftwareFuse, getFault_SoftwareFuse, getFault_Thermal, getFault_Thermal, getFault_Undervoltage, getFault_Undervoltage, getFault_UnlicensedFeatureInUse, getFault_UnlicensedFeatureInUse, getFaultField, getFaultField, getFiveVRailVoltage, getFiveVRailVoltage, getIsProLicensed, getIsProLicensed, getMaxSimultaneousAnimationCount, getMaxSimultaneousAnimationCount, getOutputCurrent, getOutputCurrent, getSimState, getStickyFault_5VTooHigh, getStickyFault_5VTooHigh, getStickyFault_5VTooLow, getStickyFault_5VTooLow, getStickyFault_BootDuringEnable, getStickyFault_BootDuringEnable, getStickyFault_Hardware, getStickyFault_Hardware, getStickyFault_Overvoltage, getStickyFault_Overvoltage, getStickyFault_ShortCircuit, getStickyFault_ShortCircuit, getStickyFault_SoftwareFuse, getStickyFault_SoftwareFuse, getStickyFault_Thermal, getStickyFault_Thermal, getStickyFault_Undervoltage, getStickyFault_Undervoltage, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnlicensedFeatureInUse, getStickyFaultField, getStickyFaultField, getSupplyVoltage, getSupplyVoltage, getVBatModulation, getVBatModulation, getVersion, getVersion, getVersionBugfix, getVersionBugfix, getVersionBuild, getVersionBuild, getVersionMajor, getVersionMajor, getVersionMinor, getVersionMinor, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl

Methods inherited from class com.ctre.phoenix6.hardware.ParentDevice

getAppliedControl, getDeviceHash, getDeviceID, getNetwork, getResetOccurredChecker, hasResetOccurred, isConnected, isConnected, lookupStatusSignal, lookupStatusSignal, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, resetSignalFrequencies, resetSignalFrequencies, resetSignalFrequenciesForAll, setControlPrivate

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kAnimSlotCount

public static final int kAnimSlotCount

The number of animation slots.

See Also:

• Constant Field Values

Constructor Details

CANdle

public CANdle(int deviceId)

Constructs a new CANdle object.

Constructs the device using the default CAN bus for the system (see CANBus()).

Parameters:

deviceId - ID of the device, as configured in Phoenix Tuner

CANdle

@Deprecated(since="2026",
            forRemoval=true)
public CANdle(int deviceId,
 String canbus)

Deprecated, for removal: This API element is subject to removal in a future version.

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

Constructs a new CANdle 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

CANdle

public CANdle(int deviceId,
 CANBus canbus)

Constructs a new CANdle object.

Parameters:

deviceId - ID of the device, as configured in Phoenix Tuner

canbus - The CAN bus this device is on

Method Details

none

public static CANdle none()

Constructs a stubbed-out CANdle, 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 CANdle

close

public void close()

Specified by:

close in interface AutoCloseable

clearAllAnimations

public final StatusCode clearAllAnimations()

Clears all animations on the CANdle. This is equivalent to applying an EmptyAnimation to all the animation slots on the CANdle.

Returns:

Status code of the first failed control call, or OK if all succeeded

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable