Class CANdle

java.lang.Object

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CoreCANdle

com.ctre.phoenix6.hardware.CANdle

All Implemented Interfaces:

PhoenixAlertable, CommonDevice, AutoCloseable

public class CANdle
extends CoreCANdle
implements AutoCloseable

WPILib-integrated version of CoreCANdle.

Nested Class Summary

Nested classes/interfaces inherited from class ParentDevice

ParentDevice.MapGenerator

Field Summary

Fields

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

Fields inherited from class ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

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

Method Summary

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

Methods inherited from class 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, registerAlerts, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl

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

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,
 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