Package com.ctre.phoenix.motorcontrol

Class Faults

java.lang.Object

com.ctre.phoenix.motorcontrol.Faults

public class Faults
extends Object

All the faults available to motor controllers

Field Summary

Fields

Modifier and Type	Field	Description
boolean	APIError	API error detected.
boolean	ForwardLimitSwitch	Forward limit switch is tripped and device is trying to go forward Only trips when the device is limited
boolean	ForwardSoftLimit	Sensor is beyond forward soft limit and device is trying to go forward Only trips when the device is limited
boolean	HardwareESDReset	Not used, @see ResetDuringEn
boolean	HardwareFailure	Device detects hardware failure
boolean	RemoteLossOfSignal	Remote Sensor is no longer detected on bus
boolean	ResetDuringEn	Device was powered-on or reset while robot is enabled.
boolean	ReverseLimitSwitch	Reverse limit switch is tripped and device is trying to go reverse Only trips when the device is limited
boolean	ReverseSoftLimit	Sensor is beyond reverse soft limit and device is trying to go reverse Only trips when the device is limited
boolean	SensorOutOfPhase	Device detects its sensor is out of phase
boolean	SensorOverflow	Device's sensor overflowed
boolean	SupplyOverV	Supply is well above the rated voltage of the hardware.
boolean	SupplyUnstable	Supply is rapidly fluctuating and unstable.
boolean	UnderVoltage	Motor Controller is under 6.5V

Constructor Summary

Constructors

Constructor	Description
Faults()

Method Summary

Modifier and Type	Method	Description
boolean	hasAnyFault()
int	toBitfield()
String	toString()
void	update(int bits)	Updates current fault list with specified bit field of faults

Methods inherited from class java.lang.Object

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

Field Details

UnderVoltage

public boolean UnderVoltage

Motor Controller is under 6.5V

ForwardLimitSwitch

public boolean ForwardLimitSwitch

Forward limit switch is tripped and device is trying to go forward Only trips when the device is limited

ReverseLimitSwitch

public boolean ReverseLimitSwitch

Reverse limit switch is tripped and device is trying to go reverse Only trips when the device is limited

ForwardSoftLimit

public boolean ForwardSoftLimit

Sensor is beyond forward soft limit and device is trying to go forward Only trips when the device is limited

ReverseSoftLimit

public boolean ReverseSoftLimit

Sensor is beyond reverse soft limit and device is trying to go reverse Only trips when the device is limited

HardwareFailure

public boolean HardwareFailure

Device detects hardware failure

ResetDuringEn

public boolean ResetDuringEn

Device was powered-on or reset while robot is enabled. Check your breakers and wiring.

SensorOverflow

public boolean SensorOverflow

Device's sensor overflowed

SensorOutOfPhase

public boolean SensorOutOfPhase

Device detects its sensor is out of phase

HardwareESDReset

public boolean HardwareESDReset

Not used, @see ResetDuringEn

RemoteLossOfSignal

public boolean RemoteLossOfSignal

Remote Sensor is no longer detected on bus

APIError

public boolean APIError

API error detected. Make sure API and firmware versions are compatible.

SupplyOverV

public boolean SupplyOverV

Supply is well above the rated voltage of the hardware. This fault is specific to Brushless.

SupplyUnstable

public boolean SupplyUnstable

Supply is rapidly fluctuating and unstable. This fault is specific to Brushless.

Constructor Details

Faults

public Faults()

Method Details

hasAnyFault

public boolean hasAnyFault()

Returns:

true if any faults are tripped

toBitfield

public int toBitfield()

Returns:

Current fault list as a bit field

update

public void update(int bits)

Updates current fault list with specified bit field of faults

Parameters:

bits - bit field of faults to update with

toString

public String toString()

Overrides:

toString in class Object

Returns:

string representation of current faults tripped