com.ctre.phoenix.led.CANdle Class Reference

Classes
enum	LEDStripType
enum	VBatOutputMode

Public Member Functions
	CANdle (int deviceId, String canbus)
	CANdle (int deviceId)
ErrorCode	destroyObject ()
double	getBusVoltage ()
double	get5VRailVoltage ()
double	getCurrent ()
double	getTemperature ()
double	getVBatModulation ()
ErrorCode	animate (Animation animation)
ErrorCode	setLEDs (int r, int g, int b, int w, int startIdx, int count)
ErrorCode	setLEDs (int r, int g, int b)
ErrorCode	modulateVBatOutput (double dutyCyclePrcnt)
ErrorCode	configLOSBehavior (boolean disableWhenLOS, int timeoutMs)
ErrorCode	configLOSBehavior (boolean disableWhenLOS)
ErrorCode	configLEDType (LEDStripType type, int timeoutMs)
ErrorCode	configLEDType (LEDStripType type)
ErrorCode	configBrightnessScalar (double brightness, int timeoutMs)
ErrorCode	configBrightnessScalar (double brightness)
ErrorCode	configStatusLedState (boolean disableWhenRunning, int timeoutMs)
ErrorCode	configStatusLedState (boolean disableWhenRunning)
ErrorCode	configVBatOutput (VBatOutputMode mode, int timeoutMs)
ErrorCode	configVBatOutput (VBatOutputMode mode)
double	configGetParameter (ParamEnum param, int ordinal, int timeoutMs)
double	configGetParameter (ParamEnum param, int ordinal)
ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)
ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal)
int	configGetCustomParam (int paramIndex, int timeoutMs)
int	configGetCustomParam (int paramIndex)
ErrorCode	configSetCustomParam (int paramIndex, int value, int timeoutMs)
ErrorCode	configSetCustomParam (int paramIndex, int value)
ErrorCode	configFactoryDefault (int timeoutMs)
ErrorCode	configFactoryDefault ()
ErrorCode	getFaults (CANdleFaults toFill)
ErrorCode	getStickyFaults (CANdleStickyFaults toFill)
ErrorCode	clearStickyFaults (int timeoutMs)
ErrorCode	clearStickyFaults ()
boolean	hasResetOccurred ()
ErrorCode	setStatusFramePeriod (CANdleStatusFrame frame, int periodMs, int timeoutMs)
ErrorCode	setStatusFramePeriod (CANdleStatusFrame frame, int periodMs)
int	getStatusFramePeriod (CANdleStatusFrame frame, int timeoutMs)
int	getStatusFramePeriod (CANdleStatusFrame frame)
ErrorCode	setControlFramePeriod (CANdleControlFrame frame, int periodMs)
ErrorCode	configAllSettings (CANdleConfiguration allConfigs, int timeoutMs)
ErrorCode	configAllSettings (CANdleConfiguration allConfigs)
void	getAllConfigs (CANdleConfiguration allConfigs, int timeoutMs)
void	getAllConfigs (CANdleConfiguration allConfigs)
ErrorCode	getLastError ()

Detailed Description

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 & Destructor Documentation

CANdle() [1/2]

com.ctre.phoenix.led.CANdle.CANdle ( int  deviceId, String  canbus  )

inline

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() [2/2]

com.ctre.phoenix.led.CANdle.CANdle ( int  deviceId )

inline

Constructor for a CANdle Device

Parameters

deviceId

The Device ID of the CANdle

Member Function Documentation

animate()

ErrorCode com.ctre.phoenix.led.CANdle.animate ( Animation  animation )

inline

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.

clearStickyFaults() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.clearStickyFaults ( )

inline

Clears the sticky faults.

Returns

Error Code generated by function. 0 indicates no error.

clearStickyFaults() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.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.led.CANdle.configAllSettings ( CANdleConfiguration  allConfigs )

inline

Configures all persistent settings.

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.led.CANdle.configAllSettings ( CANdleConfiguration  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.

configBrightnessScalar() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configBrightnessScalar ( double  brightness )

inline

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.

configBrightnessScalar() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.configBrightnessScalar ( double  brightness, int  timeoutMs  )

inline

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.

configFactoryDefault() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configFactoryDefault ( )

inline

Configures all persistent settings to defaults.

Returns

Error Code generated by function. 0 indicates no error.

configFactoryDefault() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.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.led.CANdle.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.led.CANdle.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.led.CANdle.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.led.CANdle.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.

configLEDType() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configLEDType ( LEDStripType  type )

inline

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.

configLEDType() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.configLEDType ( LEDStripType  type, int  timeoutMs  )

inline

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.

configLOSBehavior() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configLOSBehavior ( boolean  disableWhenLOS )

inline

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.

configLOSBehavior() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.configLOSBehavior ( boolean  disableWhenLOS, int  timeoutMs  )

inline

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.

configSetCustomParam() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configSetCustomParam ( int  paramIndex, int  value  )

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

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

Returns

Error Code generated by function. 0 indicates no error.

configSetCustomParam() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.configSetCustomParam ( int  paramIndex, int  value, 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

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.

configSetParameter() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.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() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.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.

configStatusLedState() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configStatusLedState ( boolean  disableWhenRunning )

inline

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.

configStatusLedState() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.configStatusLedState ( boolean  disableWhenRunning, int  timeoutMs  )

inline

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.

configVBatOutput() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.configVBatOutput ( VBatOutputMode  mode )

inline

Configures how the VBat Output will behave

Parameters

mode	VBat Output Behavior

Returns

Error Code generated by function. 0 indicates no error.

configVBatOutput() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.configVBatOutput ( VBatOutputMode  mode, int  timeoutMs  )

inline

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.

get5VRailVoltage()

double com.ctre.phoenix.led.CANdle.get5VRailVoltage ( )

inline

Gets the Voltage of the 5V line as measured by CANdle

Returns

Voltage of the 5V line

getAllConfigs() [1/2]

void com.ctre.phoenix.led.CANdle.getAllConfigs ( CANdleConfiguration  allConfigs )

inline

Gets all persistant settings.

Parameters

allConfigs

Object with all of the persistant settings

getAllConfigs() [2/2]

void com.ctre.phoenix.led.CANdle.getAllConfigs ( CANdleConfiguration  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.led.CANdle.getBusVoltage ( )

inline

Gets the Voltage of VBat as measured by CANdle

Returns

Voltage of VBat

getCurrent()

double com.ctre.phoenix.led.CANdle.getCurrent ( )

inline

Gets the low-side current as measured by CANdle

Returns

Current in Amps

getFaults()

ErrorCode com.ctre.phoenix.led.CANdle.getFaults ( CANdleFaults  toFill )

inline

Gets the CANdle fault status

Parameters

toFill

Container for fault statuses.

Returns

Error Code generated by function. OK indicates no error.

getLastError()

ErrorCode com.ctre.phoenix.led.CANdle.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.

getStatusFramePeriod() [1/2]

int com.ctre.phoenix.led.CANdle.getStatusFramePeriod ( CANdleStatusFrame  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.led.CANdle.getStatusFramePeriod ( CANdleStatusFrame  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.led.CANdle.getStickyFaults ( CANdleStickyFaults  toFill )

inline

Gets the CANdle sticky fault status

Parameters

toFill

Container for sticky fault statuses.

Returns

Error Code generated by function. OK indicates no error.

getTemperature()

double com.ctre.phoenix.led.CANdle.getTemperature ( )

inline

Gets the temperature of the CANdle in Celcius

Returns

Temperature in Celcius

getVBatModulation()

double com.ctre.phoenix.led.CANdle.getVBatModulation ( )

inline

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

hasResetOccurred()

boolean com.ctre.phoenix.led.CANdle.hasResetOccurred ( )

inline

Returns true if the device has reset since last call.

Returns

Has a Device Reset Occurred?

modulateVBatOutput()

ErrorCode com.ctre.phoenix.led.CANdle.modulateVBatOutput ( double  dutyCyclePrcnt )

inline

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.

setControlFramePeriod()

ErrorCode com.ctre.phoenix.led.CANdle.setControlFramePeriod ( CANdleControlFrame  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.

setLEDs() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.setLEDs ( int  r, int  g, int  b  )

inline

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.

setLEDs() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.setLEDs ( int  r, int  g, int  b, int  w, int  startIdx, int  count  )

inline

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.

setStatusFramePeriod() [1/2]

ErrorCode com.ctre.phoenix.led.CANdle.setStatusFramePeriod ( CANdleStatusFrame  frame, int  periodMs  )

inline

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.

setStatusFramePeriod() [2/2]

ErrorCode com.ctre.phoenix.led.CANdle.setStatusFramePeriod ( CANdleStatusFrame  frame, int  periodMs, int  timeoutMs  )

inline

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.

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

• Phoenix-api/java/src/main/java/com/ctre/phoenix/led/CANdle.java