Classes
enum	GeneralPin

enum	LEDChannel

class	PinValues

enum	PWMChannel

Public Member Functions
	CANifier (int deviceId)

ErrorCode	DestroyObject ()

void	setLEDOutput (double percentOutput, LEDChannel ledChannel)

void	setGeneralOutput (GeneralPin outputPin, boolean outputValue, boolean outputEnable)

void	setGeneralOutputs (int outputBits, int isOutputBits)

void	getGeneralInputs (PinValues allPins)

boolean	getGeneralInput (GeneralPin inputPin)

ErrorCode	getLastError ()

void	setPWMOutput (int pwmChannel, double dutyCycle)

void	enablePWMOutput (int pwmChannel, boolean bEnable)

void	getPWMInput (PWMChannel pwmChannel, double[] pulseWidthAndPeriod)

int	getQuadraturePosition ()

ErrorCode	setQuadraturePosition (int newPosition, int timeoutMs)

int	getQuadratureVelocity ()

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementPeriod (VelocityPeriod period)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize)

ErrorCode	configClearPositionOnLimitF (boolean clearPositionOnLimitF, int timeoutMs)

ErrorCode	configClearPositionOnLimitR (boolean clearPositionOnLimitR, int timeoutMs)

ErrorCode	configClearPositionOnQuadIdx (boolean clearPositionOnQuadIdx, int timeoutMs)

ErrorCode	configSetCustomParam (int newValue, int paramIndex, int timeoutMs)

ErrorCode	configSetCustomParam (int newValue, int paramIndex)

int	configGetCustomParam (int paramIndex, int timeoutMs)

int	configGetCustomParam (int paramIndex)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal)

double	configGetParameter (ParamEnum param, int ordinal, int timeoutMs)

double	configGetParameter (ParamEnum param, int ordinal)

ErrorCode	setStatusFramePeriod (CANifierStatusFrame statusFrame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (CANifierStatusFrame statusFrame, int periodMs)

ErrorCode	setStatusFramePeriod (int statusFrame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (int statusFrame, int periodMs)

int	getStatusFramePeriod (CANifierStatusFrame frame, int timeoutMs)

int	getStatusFramePeriod (CANifierStatusFrame frame)

ErrorCode	setControlFramePeriod (CANifierControlFrame frame, int periodMs)

ErrorCode	setControlFramePeriod (int frame, int periodMs)

int	getFirmwareVersion ()

boolean	hasResetOccurred ()

ErrorCode	getFaults (CANifierFaults toFill)

ErrorCode	getStickyFaults (CANifierStickyFaults toFill)

ErrorCode	clearStickyFaults (int timeoutMs)

double	getBusVoltage ()

int	getDeviceID ()

ErrorCode	configAllSettings (CANifierConfiguration allConfigs, int timeoutMs)

ErrorCode	configAllSettings (CANifierConfiguration allConfigs)

void	getAllConfigs (CANifierConfiguration allConfigs, int timeoutMs)

void	getAllConfigs (CANifierConfiguration allConfigs)

ErrorCode	configFactoryDefault (int timeoutMs)

ErrorCode	configFactoryDefault ()

Public Attributes
final int	PWMChannelCount = 4

Detailed Description

CTRE CANifier

Device for interfacing common devices to the CAN bus.

Constructor & Destructor Documentation

◆ CANifier()

com.ctre.phoenix.CANifier.CANifier ( int deviceId )

inline

Constructor.

Parameters

deviceId The CAN Device ID of the CANifier.

Member Function Documentation

◆ clearStickyFaults()

ErrorCode com.ctre.phoenix.CANifier.clearStickyFaults ( int timeoutMs )

inline

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.

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.CANifier.configAllSettings ( CANifierConfiguration allConfigs )

inline

Configures all persistent settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

Returns: Error Code generated by function. 0 indicates no error.

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.CANifier.configAllSettings	(	CANifierConfiguration	allConfigs,
		int	timeoutMs
	)

inline

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.

◆ configClearPositionOnLimitF()

ErrorCode com.ctre.phoenix.CANifier.configClearPositionOnLimitF	(	boolean	clearPositionOnLimitF,
		int	timeoutMs
	)

inline

Enables clearing the position of the feedback sensor when the forward limit switch is triggered

Parameters

clearPositionOnLimitF	Whether clearing is enabled, defaults false
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.

◆ configClearPositionOnLimitR()

ErrorCode com.ctre.phoenix.CANifier.configClearPositionOnLimitR	(	boolean	clearPositionOnLimitR,
		int	timeoutMs
	)

inline

Enables clearing the position of the feedback sensor when the reverse limit switch is triggered

Parameters

clearPositionOnLimitR	Whether clearing is enabled, defaults false
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.

◆ configClearPositionOnQuadIdx()

ErrorCode com.ctre.phoenix.CANifier.configClearPositionOnQuadIdx	(	boolean	clearPositionOnQuadIdx,
		int	timeoutMs
	)

inline

Enables clearing the position of the feedback sensor when the quadrature index signal is detected

Parameters

clearPositionOnQuadIdx	Whether clearing is enabled, defaults false
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() [1/2]

ErrorCode com.ctre.phoenix.CANifier.configFactoryDefault ( )

inline

Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).

Returns: Error Code generated by function. 0 indicates no error.

◆ configFactoryDefault() [2/2]

ErrorCode com.ctre.phoenix.CANifier.configFactoryDefault ( int timeoutMs )

inline

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.

◆ configGetCustomParam() [1/2]

int com.ctre.phoenix.CANifier.configGetCustomParam ( int paramIndex )

inline

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.

◆ configGetCustomParam() [2/2]

int com.ctre.phoenix.CANifier.configGetCustomParam	(	int	paramIndex,
		int	timeoutMs
	)

inline

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.

◆ configGetParameter() [1/2]

double com.ctre.phoenix.CANifier.configGetParameter	(	ParamEnum	param,
		int	ordinal
	)

inline

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.

◆ configGetParameter() [2/2]

double com.ctre.phoenix.CANifier.configGetParameter	(	ParamEnum	param,
		int	ordinal,
		int	timeoutMs
	)

inline

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.

◆ configSetCustomParam() [1/2]

ErrorCode com.ctre.phoenix.CANifier.configSetCustomParam	(	int	newValue,
		int	paramIndex
	)

inline

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

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]

Returns: Error Code generated by function. 0 indicates no error.

◆ configSetCustomParam() [2/2]

ErrorCode com.ctre.phoenix.CANifier.configSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs
	)

inline

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

newValue	Value for custom parameter.
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: Error Code generated by function. 0 indicates no error.

◆ configSetParameter() [1/4]

ErrorCode com.ctre.phoenix.CANifier.configSetParameter	(	int	param,
		double	value,
		int	subValue,
		int	ordinal
	)

inline

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.

◆ configSetParameter() [2/4]

ErrorCode com.ctre.phoenix.CANifier.configSetParameter	(	int	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

inline

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() [3/4]

ErrorCode com.ctre.phoenix.CANifier.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal
	)

inline

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.

◆ configSetParameter() [4/4]

ErrorCode com.ctre.phoenix.CANifier.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

inline

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.

◆ configVelocityMeasurementPeriod() [1/4]

ErrorCode com.ctre.phoenix.CANifier.configVelocityMeasurementPeriod ( SensorVelocityMeasPeriod period )

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.sensor.SensorVelocityMeasPeriod

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementPeriod() [2/4]

ErrorCode com.ctre.phoenix.CANifier.configVelocityMeasurementPeriod	(	SensorVelocityMeasPeriod	period,
		int	timeoutMs
	)

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.sensors.SensorVelocityMeasPeriod

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.

◆ configVelocityMeasurementPeriod() [3/4]

ErrorCode com.ctre.phoenix.CANifier.configVelocityMeasurementPeriod ( VelocityPeriod period )

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Deprecated:: Use the overload with SensorVelocityMeasPeriod instead.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.motorcontrol.VelocityMeasPeriod

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementPeriod() [4/4]

ErrorCode com.ctre.phoenix.CANifier.configVelocityMeasurementPeriod	(	VelocityPeriod	period,
		int	timeoutMs
	)

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Deprecated:: Use the overload with SensorVelocityMeasPeriod instead.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.VelocityMeasPeriod

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.

◆ configVelocityMeasurementWindow() [1/2]

ErrorCode com.ctre.phoenix.CANifier.configVelocityMeasurementWindow ( int windowSize )

inline

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementWindow() [2/2]

ErrorCode com.ctre.phoenix.CANifier.configVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs
	)

inline

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
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.

◆ DestroyObject()

ErrorCode com.ctre.phoenix.CANifier.DestroyObject ( )

inline

Destructor

Returns: Error Code generated by function. 0 indicates no error.

◆ enablePWMOutput()

void com.ctre.phoenix.CANifier.enablePWMOutput	(	int	pwmChannel,
		boolean	bEnable
	)

inline

Enables PWM Outputs Currently supports PWM 0, PWM 1, and PWM 2

Parameters

pwmChannel	Index of the PWM channel to enable.
bEnable	"True" enables output on the pwm channel.

◆ getAllConfigs() [1/2]

void com.ctre.phoenix.CANifier.getAllConfigs ( CANifierConfiguration allConfigs )

inline

Gets all persistant settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

◆ getAllConfigs() [2/2]

void com.ctre.phoenix.CANifier.getAllConfigs	(	CANifierConfiguration	allConfigs,
		int	timeoutMs
	)

inline

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.

◆ getBusVoltage()

double com.ctre.phoenix.CANifier.getBusVoltage ( )

inline

Gets the bus voltage seen by the device.

Returns: The bus voltage value (in volts).

◆ getDeviceID()

int com.ctre.phoenix.CANifier.getDeviceID ( )

inline

Returns: The Device Number

◆ getFaults()

ErrorCode com.ctre.phoenix.CANifier.getFaults ( CANifierFaults toFill )

inline

Gets the CANifier fault status

Parameters

toFill Container for fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ getFirmwareVersion()

int com.ctre.phoenix.CANifier.getFirmwareVersion ( )

inline

Gets the firmware version of the device.

Returns: Firmware version of device.

◆ getGeneralInput()

boolean com.ctre.phoenix.CANifier.getGeneralInput ( GeneralPin inputPin )

inline

Gets the state of the specified pin

Parameters

inputPin The index of the pin.

Returns: The state of the pin.

◆ getGeneralInputs()

void com.ctre.phoenix.CANifier.getGeneralInputs ( PinValues allPins )

inline

Gets the state of all General Pins

Parameters

allPins A structure to fill with the current state of all pins.

◆ getLastError()

ErrorCode com.ctre.phoenix.CANifier.getLastError ( )

inline

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.

◆ getPWMInput()

void com.ctre.phoenix.CANifier.getPWMInput	(	PWMChannel	pwmChannel,
		double[]	pulseWidthAndPeriod
	)

inline

Gets the PWM Input

Parameters

pwmChannel	PWM channel to get.
pulseWidthAndPeriod	Double array to hold Duty Cycle [0] and Period [1].

◆ getQuadraturePosition()

int com.ctre.phoenix.CANifier.getQuadraturePosition ( )

inline

Gets the quadrature encoder's position

Returns: Position of encoder

◆ getQuadratureVelocity()

int com.ctre.phoenix.CANifier.getQuadratureVelocity ( )

inline

Gets the quadrature encoder's velocity

Returns: Velocity of encoder

◆ getStatusFramePeriod() [1/2]

int com.ctre.phoenix.CANifier.getStatusFramePeriod ( CANifierStatusFrame frame )

inline

Gets the period of the given status frame.

Parameters

frame Frame to get the period of.

Returns: Period of the given status frame.

◆ getStatusFramePeriod() [2/2]

int com.ctre.phoenix.CANifier.getStatusFramePeriod	(	CANifierStatusFrame	frame,
		int	timeoutMs
	)

inline

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.

◆ getStickyFaults()

ErrorCode com.ctre.phoenix.CANifier.getStickyFaults ( CANifierStickyFaults toFill )

inline

Gets the CANifier sticky fault status

Parameters

toFill Container for sticky fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ hasResetOccurred()

boolean com.ctre.phoenix.CANifier.hasResetOccurred ( )

inline

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

◆ setControlFramePeriod() [1/2]

ErrorCode com.ctre.phoenix.CANifier.setControlFramePeriod	(	CANifierControlFrame	frame,
		int	periodMs
	)

inline

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.

◆ setControlFramePeriod() [2/2]

ErrorCode com.ctre.phoenix.CANifier.setControlFramePeriod	(	int	frame,
		int	periodMs
	)

inline

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.

◆ setGeneralOutput()

void com.ctre.phoenix.CANifier.setGeneralOutput	(	GeneralPin	outputPin,
		boolean	outputValue,
		boolean	outputEnable
	)

inline

Sets the output of a General Pin

Parameters

outputPin	The pin to use as output.
outputValue	The desired output state.
outputEnable	Whether this pin is an output. "True" enables output.

◆ setGeneralOutputs()

void com.ctre.phoenix.CANifier.setGeneralOutputs	(	int	outputBits,
		int	isOutputBits
	)

inline

Sets the output of all General Pins

Parameters

outputBits	A bit mask of all the output states. LSB->MSB is in the order of the com.ctre.phoenix.CANifier.GeneralPin enum.
isOutputBits	A boolean bit mask that sets the pins to be outputs or inputs. A bit of 1 enables output.

◆ setLEDOutput()

void com.ctre.phoenix.CANifier.setLEDOutput	(	double	percentOutput,
		LEDChannel	ledChannel
	)

inline

Sets the LED Output

Parameters

percentOutput	Output duty cycle expressed as percentage.
ledChannel	Channel to set the output of.

◆ setPWMOutput()

void com.ctre.phoenix.CANifier.setPWMOutput	(	int	pwmChannel,
		double	dutyCycle
	)

inline

Sets the PWM Output Currently supports PWM 0, PWM 1, and PWM 2

Parameters

pwmChannel	Index of the PWM channel to output.
dutyCycle	Duty Cycle (0 to 1) to output. Default period of the signal is 4.2 ms.

◆ setQuadraturePosition()

ErrorCode com.ctre.phoenix.CANifier.setQuadraturePosition	(	int	newPosition,
		int	timeoutMs
	)

inline

Sets the quadrature encoder's position

Parameters

newPosition	Position to set
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() [1/4]

ErrorCode com.ctre.phoenix.CANifier.setStatusFramePeriod	(	CANifierStatusFrame	statusFrame,
		int	periodMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	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.

◆ setStatusFramePeriod() [2/4]

ErrorCode com.ctre.phoenix.CANifier.setStatusFramePeriod	(	CANifierStatusFrame	statusFrame,
		int	periodMs,
		int	timeoutMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	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() [3/4]

ErrorCode com.ctre.phoenix.CANifier.setStatusFramePeriod	(	int	statusFrame,
		int	periodMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	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.

◆ setStatusFramePeriod() [4/4]

ErrorCode com.ctre.phoenix.CANifier.setStatusFramePeriod	(	int	statusFrame,
		int	periodMs,
		int	timeoutMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	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.

Member Data Documentation

◆ PWMChannelCount

final int com.ctre.phoenix.CANifier.PWMChannelCount = 4

Number of PWM channels available to CANifier

The documentation for this class was generated from the following file:

Phoenix-api/java/src/main/java/com/ctre/phoenix/CANifier.java

Classes

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CANifier()

Member Function Documentation

◆ clearStickyFaults()

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configClearPositionOnLimitF()

◆ configClearPositionOnLimitR()

◆ configClearPositionOnQuadIdx()

◆ configFactoryDefault() [1/2]

◆ configFactoryDefault() [2/2]

◆ configGetCustomParam() [1/2]

◆ configGetCustomParam() [2/2]

◆ configGetParameter() [1/2]

◆ configGetParameter() [2/2]

◆ configSetCustomParam() [1/2]

◆ configSetCustomParam() [2/2]

◆ configSetParameter() [1/4]

◆ configSetParameter() [2/4]

◆ configSetParameter() [3/4]

◆ configSetParameter() [4/4]

◆ configVelocityMeasurementPeriod() [1/4]

◆ configVelocityMeasurementPeriod() [2/4]

◆ configVelocityMeasurementPeriod() [3/4]

◆ configVelocityMeasurementPeriod() [4/4]

◆ configVelocityMeasurementWindow() [1/2]

◆ configVelocityMeasurementWindow() [2/2]

◆ DestroyObject()

◆ enablePWMOutput()

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getBusVoltage()

◆ getDeviceID()

◆ getFaults()

◆ getFirmwareVersion()

◆ getGeneralInput()

◆ getGeneralInputs()

◆ getLastError()

◆ getPWMInput()

◆ getQuadraturePosition()

◆ getQuadratureVelocity()

◆ getStatusFramePeriod() [1/2]

◆ getStatusFramePeriod() [2/2]

◆ getStickyFaults()

◆ hasResetOccurred()

◆ setControlFramePeriod() [1/2]

◆ setControlFramePeriod() [2/2]

◆ setGeneralOutput()

◆ setGeneralOutputs()

◆ setLEDOutput()

◆ setPWMOutput()

◆ setQuadraturePosition()

◆ setStatusFramePeriod() [1/4]

◆ setStatusFramePeriod() [2/4]

◆ setStatusFramePeriod() [3/4]

◆ setStatusFramePeriod() [4/4]

Member Data Documentation

◆ PWMChannelCount