Package com.ctre.phoenix6.hardware.traits

Interface CommonDevice

All Known Subinterfaces:
CommonTalon, CommonTalonWithExternalMotor, CommonTalonWithFOC, HasExternalMotor, HasTalonControls, HasTalonSignals, SupportsFOC, SupportsMusic
All Known Implementing Classes:
CANcoder, CANdi, CANdle, CANrange, CoreCANcoder, CoreCANdi, CoreCANdle, CoreCANrange, CorePigeon2, CoreTalonFX, CoreTalonFXS, ParentDevice, Pigeon2, TalonFX, TalonFXS
public interface CommonDevice
Contains everything common across Phoenix 6 devices.

  • Method Details

    • getDeviceID

      int getDeviceID()
      Returns:
      The device ID of this device [0,62].

    • getNetwork

      CANBus getNetwork()
      Returns:
      The network this device is on.

    • getDeviceHash

      long getDeviceHash()
      Gets a number unique for this device's hardware type and ID. This number is not unique across networks.

      This can be used to easily reference hardware devices on the same network in collections such as maps.

      Returns:
      Hash of this device.

    • getAppliedControl

      ControlRequest getAppliedControl()
      Get the latest applied control. Caller can cast this to the derived class if they know its type. Otherwise, use ControlRequest.getControlInfo() to get info out of it.
      Returns:
      Latest applied control

    • hasResetOccurred

      boolean hasResetOccurred()
      Returns:
      true if device has reset since the previous call of this routine.

    • getResetOccurredChecker

      BooleanSupplier getResetOccurredChecker()
      Returns:
      a BooleanSupplier that checks for device resets.

    • isConnected

      boolean isConnected()
      Returns whether the device is still connected to the robot. This is equivalent to refreshing and checking the latency of the Version status signal.

      This defaults to reporting a device as disconnected if it has not been seen for over 0.5 seconds.

      Returns:
      true if the device is connected

    • isConnected

      boolean isConnected(double maxLatencySeconds)
      Returns whether the device is still connected to the robot. This is equivalent to refreshing and checking the latency of the Version status signal.
      Parameters:
      maxLatencySeconds - The maximum latency of the Version status signal before the device is reported as disconnected
      Returns:
      true if the device is connected

    • optimizeBusUtilization

      StatusCode optimizeBusUtilization()
      Optimizes the device's bus utilization by reducing the update frequencies of its status signals. This API defaults to an optimized update frequency of 4 Hz to preserve log data.

      All status signals that have not been explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) will be slowed down. Note that if other status signals in the same status frame have been given an update frequency, the update frequency will be honored for the entire frame.

      This function only needs to be called once in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

      To restore the default status update frequencies, call resetSignalFrequencies(). Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.setUpdateFrequency(double).

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

      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • optimizeBusUtilization

      StatusCode optimizeBusUtilization(double optimizedFreqHz)
      Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

      All status signals that have not been explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) will be slowed down. Note that if other status signals in the same status frame have been given an update frequency, the update frequency will be honored for the entire frame.

      This function only needs to be called once on this device in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

      To restore the default status update frequencies, call resetSignalFrequencies(). Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.setUpdateFrequency(double).

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

      Parameters:
      optimizedFreqHz - The update frequency to apply to the optimized status signals. A frequency of 0 Hz will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz (default).
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • optimizeBusUtilization

      StatusCode optimizeBusUtilization(Frequency optimizedFreq)
      Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

      All status signals that have not been explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) will be slowed down. Note that if other status signals in the same status frame have been given an update frequency, the update frequency will be honored for the entire frame.

      This function only needs to be called once on this device in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

      To restore the default status update frequencies, call resetSignalFrequencies(). Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.setUpdateFrequency(double).

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

      Parameters:
      optimizedFreq - The update frequency to apply to the optimized status signals. A frequency of 0 Hz will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz (default).
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • optimizeBusUtilization

      StatusCode optimizeBusUtilization(double optimizedFreqHz, double timeoutSeconds)
      Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

      All status signals that have not been explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) will be slowed down. Note that if other status signals in the same status frame have been given an update frequency, the update frequency will be honored for the entire frame.

      This function only needs to be called once on this device in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

      To restore the default status update frequencies, call resetSignalFrequencies(). Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.setUpdateFrequency(double).

      Parameters:
      optimizedFreqHz - The update frequency to apply to the optimized status signals. A frequency of 0 Hz will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz (default).
      timeoutSeconds - Maximum amount of time to wait for each status frame when performing the action
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • optimizeBusUtilization

      StatusCode optimizeBusUtilization(Frequency optimizedFreq, double timeoutSeconds)
      Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

      All status signals that have not been explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) will be slowed down. Note that if other status signals in the same status frame have been given an update frequency, the update frequency will be honored for the entire frame.

      This function only needs to be called once on this device in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

      To restore the default status update frequencies, call resetSignalFrequencies(). Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.setUpdateFrequency(double).

      Parameters:
      optimizedFreq - The update frequency to apply to the optimized status signals. A frequency of 0 Hz will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz (default).
      timeoutSeconds - Maximum amount of time to wait for each status frame when performing the action
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • resetSignalFrequencies

      StatusCode resetSignalFrequencies()
      Resets the update frequencies of all the device's status signals to the defaults.

      This restores the default update frequency of all status signals, including status signals explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) and status signals optimized out using optimizeBusUtilization().

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

      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • resetSignalFrequencies

      StatusCode resetSignalFrequencies(double timeoutSeconds)
      Resets the update frequencies of all the device's status signals to the defaults.

      This restores the default update frequency of all status signals, including status signals explicitly given an update frequency using BaseStatusSignal.setUpdateFrequency(double) and status signals optimized out using optimizeBusUtilization().

      Parameters:
      timeoutSeconds - Maximum amount of time to wait for each status frame when performing the action
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded