Package com.ctre.phoenix.led

Class CANdle

java.lang.Object
com.ctre.phoenix.led.CANdle
public class CANdle extends Object
CTRE CANdle Device for controlling LEDs from the CAN bus. 
 
 // Example usage of a CANdle
 CANdle candle = new CANdle(0); // creates a new CANdle with ID 0

 CANdleConfiguration config = new CANdleConfiguration();
 config.stripType = LEDStripType.RGB; // set the strip type to RGB
 config.brightnessScalar = 0.5; // dim the LEDs to half brightness
 candle.configAllSettings(config);

 candle.setLEDs(255, 255, 255); // set the CANdle LEDs to white

 // create a rainbow animation:
 // - max brightness
 // - half speed
 // - 64 LEDs
 RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
 candle.animate(rainbowAnim);

 ErrorCode error = candle.getLastError(); // gets the last error generated by the CANdle
 CANdleFaults faults = new CANdleFaults();
 ErrorCode faultsError = candle.getFaults(faults); // fills faults with the current CANdle faults; returns the last error generated

  • Constructor Details

    • CANdle

      public CANdle(int deviceId, String canbus)
      Constructor for a CANdle Device
      Parameters:
      deviceId - The Device ID of the CANdle
      canbus - Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

    • CANdle

      public CANdle(int deviceId)
      Constructor for a CANdle Device
      Parameters:
      deviceId - The Device ID of the CANdle

  • Method Details

    • destroyObject

      public ErrorCode destroyObject()

    • getBusVoltage

      public double getBusVoltage()
      Gets the Voltage of VBat as measured by CANdle
      Returns:
      Voltage of VBat

    • get5VRailVoltage

      public double get5VRailVoltage()
      Gets the Voltage of the 5V line as measured by CANdle
      Returns:
      Voltage of the 5V line

    • getCurrent

      public double getCurrent()
      Gets the low-side current as measured by CANdle
      Returns:
      Current in Amps

    • getTemperature

      public double getTemperature()
      Gets the temperature of the CANdle in Celcius
      Returns:
      Temperature in Celcius

    • getVBatModulation

      public double getVBatModulation()
      Gets the applied vbat modulation in percent. If the CANdle is configured to always enable VBat, this returns 1 If the CANdle is confgigured to always disable VBat, this returns 0 Otherwise it returns the last set Modulation as a value [0, 1]
      Returns:
      VBat Output Modulation

    • animate

      public ErrorCode animate(Animation animation)
      Animates the CANdle with the passed-in animation If the animation changes after calling this function, it must be passed into animate again for the changes to take effect
      Parameters:
      animation - The animation that CANdle will run
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • setLEDs

      public ErrorCode setLEDs(int r, int g, int b, int w, int startIdx, int count)
      Sets a block of LEDs to the specified color
      Parameters:
      r - The amount of Red to set, range is [0, 255]
      g - The amount of Green to set, range is [0, 255]
      b - The amount of Blue to set, range is [0, 255]
      w - The amount of White to set, range is [0, 255]. This only applies for LED strips with white in them.
      startIdx - Where to start setting the LEDs
      count - The number of LEDs to apply this to
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • setLEDs

      public ErrorCode setLEDs(int r, int g, int b)
      Sets a block of LEDs to the specified color. This will apply to the first 255 LEDs.
      Parameters:
      r - The amount of Red to set, range is [0, 255]
      g - The amount of Green to set, range is [0, 255]
      b - The amount of Blue to set, range is [0, 255]
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • modulateVBatOutput

      public ErrorCode modulateVBatOutput(double dutyCyclePrcnt)
      Modulates the VBat output to the specified duty cycle percentage This function will only do something if the CANdle's VBatOutput is configured to Modulated
      Parameters:
      dutyCyclePrcnt - The duty cycle of the output modulation [0, 1]
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • configLOSBehavior

      public ErrorCode configLOSBehavior(boolean disableWhenLOS, int timeoutMs)
      Configures what the CANdle should do if it loses communications to the Controller
      Parameters:
      disableWhenLOS - Set to true to disable the LEDs on Loss of Signal.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • configLOSBehavior

      public ErrorCode configLOSBehavior(boolean disableWhenLOS)
      Configures what the CANdle should do if it loses communications to the Controller
      Parameters:
      disableWhenLOS - Set to true to disable the LEDs on Loss of Signal.
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • configLEDType

      public ErrorCode configLEDType(CANdle.LEDStripType type, int timeoutMs)
      Configures the type of LED the CANdle controls
      Parameters:
      type - The type of the LEDs the CANdle controls
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • configLEDType

      public ErrorCode configLEDType(CANdle.LEDStripType type)
      Configures the type of LED the CANdle controls
      Parameters:
      type - The type of the LEDs the CANdle controls
      Returns:
      ErrorCode generated by function. OK indicates no error.

    • configBrightnessScalar

      public ErrorCode configBrightnessScalar(double brightness, int timeoutMs)
      Configures the brightness scalar to be applied to every LED output. This value is bounded to [0, 1]. Setting this to 1 will allow the LEDs to function at max brightness. Setting this to 0.5 will scale all values to half their applied value. Setting this to 0 will turn off the LEDs. Forcing the LEDs off this way may be useful in certain testing circumstances but is generally not necessary. Self-test (Tuner) may be used to verify what the effective scalar is in case user forgot to restore the scalar to a non-zero value.
      Parameters:
      brightness - Value from [0, 1] that will scale the LED output.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configBrightnessScalar

      public ErrorCode configBrightnessScalar(double brightness)
      Configures the brightness scalar to be applied to every LED output. This value is bounded to [0, 1]. Setting this to 1 will allow the LEDs to function at max brightness. Setting this to 0.5 will scale all values to half their applied value. Setting this to 0 will turn off the LEDs. Forcing the LEDs off this way may be useful in certain testing circumstances but is generally not necessary. Self-test (Tuner) may be used to verify what the effective scalar is in case user forgot to restore the scalar to a non-zero value.
      Parameters:
      brightness - Value from [0, 1] that will scale the LED output.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configStatusLedState

      public ErrorCode configStatusLedState(boolean disableWhenRunning, int timeoutMs)
      Configures how the status led will behave when the CANdle is actively controlling LEDs If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.
      Parameters:
      disableWhenRunning - Disables the status LED when the CANdle is running
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configStatusLedState

      public ErrorCode configStatusLedState(boolean disableWhenRunning)
      Configures how the status led will behave when the CANdle is actively controlling LEDs If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.
      Parameters:
      disableWhenRunning - Disables the status LED when the CANdle is running
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configVBatOutput

      public ErrorCode configVBatOutput(CANdle.VBatOutputMode mode, int timeoutMs)
      Configures how the VBat Output will behave
      Parameters:
      mode - VBat Output Behavior
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configVBatOutput

      public ErrorCode configVBatOutput(CANdle.VBatOutputMode mode)
      Configures how the VBat Output will behave
      Parameters:
      mode - VBat Output Behavior
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configGetParameter

      public double configGetParameter(ParamEnum param, int ordinal, int timeoutMs)
      Gets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      ordinal - Ordinal of parameter.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Value of parameter.

    • configGetParameter

      public double configGetParameter(ParamEnum param, int ordinal)
      Gets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      ordinal - Ordinal of parameter.
      Returns:
      Value of parameter.

    • configSetParameter

      public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)
      Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      value - Value of parameter.
      subValue - Subvalue for parameter. Maximum value of 255.
      ordinal - Ordinal of parameter.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configSetParameter

      public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal)
      Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      value - Value of parameter.
      subValue - Subvalue for parameter. Maximum value of 255.
      ordinal - Ordinal of parameter.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configGetCustomParam

      public int configGetCustomParam(int paramIndex, int timeoutMs)
      Gets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.
      Parameters:
      paramIndex - Index of custom parameter. [0-1]
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Value of the custom param.

    • configGetCustomParam

      public int configGetCustomParam(int paramIndex)
      Gets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.
      Parameters:
      paramIndex - Index of custom parameter. [0-1]
      Returns:
      Value of the custom param.

    • configSetCustomParam

      public ErrorCode configSetCustomParam(int paramIndex, int value, int timeoutMs)
      Sets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.
      Parameters:
      paramIndex - Index of custom parameter. [0-1]
      value - Value for custom parameter.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configSetCustomParam

      public ErrorCode configSetCustomParam(int paramIndex, int value)
      Sets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.
      Parameters:
      paramIndex - Index of custom parameter. [0-1]
      value - Value for custom parameter.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configFactoryDefault

      public ErrorCode configFactoryDefault(int timeoutMs)
      Configures all persistent settings to defaults.
      Parameters:
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configFactoryDefault

      public ErrorCode configFactoryDefault()
      Configures all persistent settings to defaults.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getFaults

      public ErrorCode getFaults(CANdleFaults toFill)
      Gets the CANdle fault status
      Parameters:
      toFill - Container for fault statuses.
      Returns:
      Error Code generated by function. OK indicates no error.

    • getStickyFaults

      public ErrorCode getStickyFaults(CANdleStickyFaults toFill)
      Gets the CANdle sticky fault status
      Parameters:
      toFill - Container for sticky fault statuses.
      Returns:
      Error Code generated by function. OK indicates no error.

    • clearStickyFaults

      public ErrorCode clearStickyFaults(int timeoutMs)
      Clears the sticky faults.
      Parameters:
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • clearStickyFaults

      public ErrorCode clearStickyFaults()
      Clears the sticky faults.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • hasResetOccurred

      public boolean hasResetOccurred()
      Returns true if the device has reset since last call.
      Returns:
      Has a Device Reset Occurred?

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod(CANdleStatusFrame frame, int periodMs, int timeoutMs)
      Sets the period of the given status frame.
      Parameters:
      frame - Frame whose period is to be changed.
      periodMs - Period in ms for the given frame.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod(CANdleStatusFrame frame, int periodMs)
      Sets the period of the given status frame.
      Parameters:
      frame - Frame whose period is to be changed.
      periodMs - Period in ms for the given frame.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getStatusFramePeriod

      public int getStatusFramePeriod(CANdleStatusFrame frame, int timeoutMs)
      Gets the period of the given status frame.
      Parameters:
      frame - Frame to get the period of.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Period of the given status frame.

    • getStatusFramePeriod

      public int getStatusFramePeriod(CANdleStatusFrame frame)
      Gets the period of the given status frame.
      Parameters:
      frame - Frame to get the period of.
      Returns:
      Period of the given status frame.

    • setControlFramePeriod

      public ErrorCode setControlFramePeriod(CANdleControlFrame frame, int periodMs)
      Sets the period of the given control frame.
      Parameters:
      frame - Frame whose period is to be changed.
      periodMs - Period in ms for the given frame.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configAllSettings

      public ErrorCode configAllSettings(CANdleConfiguration allConfigs, int timeoutMs)
      Configures all persistent settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configAllSettings

      public ErrorCode configAllSettings(CANdleConfiguration allConfigs)
      Configures all persistent settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getAllConfigs

      public void getAllConfigs(CANdleConfiguration allConfigs, int timeoutMs)
      Gets all persistant settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

    • getAllConfigs

      public void getAllConfigs(CANdleConfiguration allConfigs)
      Gets all persistant settings.
      Parameters:
      allConfigs - Object with all of the persistant settings

    • getLastError

      public ErrorCode getLastError()
      Call GetLastError() generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.
      Returns:
      The last ErrorCode generated.