Class Unmanaged

java.lang.Object
com.ctre.phoenix6.unmanaged.Unmanaged
public final class Unmanaged extends Object
Functions related to more barebones control of Phoenix 6, including manually feeding the enable in non-FRC.

  • Constructor Details

    • Unmanaged

      public Unmanaged()

  • Method Details

    • feedEnable

      public static void feedEnable(double timeoutSeconds)
      Feeds the enable signal with a timeout specified in seconds. This function does nothing on a Systemcore during FRC use.

      A timeout of 0 disables actuators.

      Parameters:
      timeoutSeconds - Time to remain enabled in seconds

    • feedEnable

      public static void feedEnable(Time timeout)
      Feeds the enable signal with a specified timeout. This function does nothing on a Systemcore during FRC use.

      A timeout of 0 disables actuators.

      Parameters:
      timeout - Time to remain enabled

    • getEnableState

      public static boolean getEnableState()
      Returns:
      true if non-FRC enabled

    • setTransmitEnable

      public static void setTransmitEnable(boolean enable)
      Sets whether to transmit the enable frame. This function does nothing on a Systemcore during FRC use.
      Parameters:
      enable - true to transmit the enable frame

    • getTransmitEnable

      public static boolean getTransmitEnable()
      Gets whether the enable frame is being transmitted. This function returns true on a Systemcore during FRC use.
      Returns:
      true if the enable frame is being transmitted

    • getPhoenixVersion

      public static int getPhoenixVersion()
      Returns:
      The current version of Phoenix

    • getApiCompliancy

      public static int getApiCompliancy()
      Gets this API's compliancy version.

      This is purely used to check the compliancy of API against firmware, and report if there is a mismatch to the user.

      Returns:
      The current API compliancy

    • loadPhoenix

      public static void loadPhoenix()
      Calling this function will load and start the Phoenix background tasks.

      This can be useful if you need the Enable/Disable functionality for CAN devices but aren't using any of the CAN device classes.

      This function does NOT need to be called if you are using any of the Phoenix CAN device classes.

    • setPhoenixDiagnosticsStartTime

      public static void setPhoenixDiagnosticsStartTime(double startTimeSeconds)
      Sets the duration of the delay before starting the Phoenix diagnostics server.
      Parameters:
      startTimeSeconds - The delay (in seconds) before starting the server. A value of 0 will start the server immediately. A negative value will signal the server to shutdown or never start.