Class CANdi

java.lang.Object

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CoreCANdi

com.ctre.phoenix6.hardware.CANdi

All Implemented Interfaces:

PhoenixAlertable, CommonDevice, AutoCloseable

public class CANdi
extends CoreCANdi
implements AutoCloseable

WPILib-integrated version of CoreCANdi.

Nested Class Summary

Nested classes/interfaces inherited from class ParentDevice

ParentDevice.MapGenerator

Field Summary

Fields inherited from class ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

Constructor	Description
CANdi(int deviceId, CANBus canbus)	Constructs a new CANdi object.

Method Summary

Modifier and Type	Method	Description
void	close()
static CANdi	none()	Constructs a stubbed-out CANdi, where all status signals, controls, configs, etc.

Methods inherited from class CoreCANdi

clearStickyFault_5V, clearStickyFault_5V, clearStickyFault_BootDuringEnable, clearStickyFault_BootDuringEnable, clearStickyFault_Hardware, clearStickyFault_Hardware, clearStickyFault_Undervoltage, clearStickyFault_Undervoltage, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnlicensedFeatureInUse, clearStickyFaults, clearStickyFaults, getConfigurator, getFault_5V, getFault_5V, getFault_BootDuringEnable, getFault_BootDuringEnable, getFault_Hardware, getFault_Hardware, getFault_Undervoltage, getFault_Undervoltage, getFault_UnlicensedFeatureInUse, getFault_UnlicensedFeatureInUse, getFaultField, getFaultField, getIsProLicensed, getIsProLicensed, getOutputCurrent, getOutputCurrent, getOvercurrent, getOvercurrent, getPWM1Position, getPWM1Position, getPWM1RiseToRise, getPWM1RiseToRise, getPWM1Velocity, getPWM1Velocity, getPWM2Position, getPWM2Position, getPWM2RiseToRise, getPWM2RiseToRise, getPWM2Velocity, getPWM2Velocity, getQuadraturePosition, getQuadraturePosition, getQuadratureVelocity, getQuadratureVelocity, getS1Closed, getS1Closed, getS1State, getS1State, getS2Closed, getS2Closed, getS2State, getS2State, getSimState, getStickyFault_5V, getStickyFault_5V, getStickyFault_BootDuringEnable, getStickyFault_BootDuringEnable, getStickyFault_Hardware, getStickyFault_Hardware, getStickyFault_Undervoltage, getStickyFault_Undervoltage, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnlicensedFeatureInUse, getStickyFaultField, getStickyFaultField, getSupplyVoltage, getSupplyVoltage, getVersion, getVersion, getVersionBugfix, getVersionBugfix, getVersionBuild, getVersionBuild, getVersionMajor, getVersionMajor, getVersionMinor, getVersionMinor, registerAlerts, setQuadraturePosition, setQuadraturePosition, setQuadraturePosition, setQuadraturePosition

Methods inherited from class ParentDevice

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

Methods inherited from class Object

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

Constructor Details

CANdi

public 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

Method Details

none

public static CANdi none()

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

close

public void close()

Specified by:

close in interface AutoCloseable