CTRE Phoenix 6 C++ 25.2.1
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ctre::phoenix6::hardware::core::CoreCANrange Class Reference

Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device. More...

#include <ctre/phoenix6/core/CoreCANrange.hpp>

Inheritance diagram for ctre::phoenix6::hardware::core::CoreCANrange:
ctre::phoenix6::hardware::ParentDevice ctre::phoenix6::hardware::CANrange

Public Types

using Configuration = configs::CANrangeConfiguration
 

Public Member Functions

 CoreCANrange (int deviceId, std::string canbus="")
 Constructs a new CANrange object.
 
 CoreCANrange (int deviceId, CANBus canbus)
 Constructs a new CANrange object.
 
configs::CANrangeConfiguratorGetConfigurator ()
 Gets the configurator for this CANrange.
 
configs::CANrangeConfigurator const & GetConfigurator () const
 Gets the configurator for this CANrange.
 
sim::CANrangeSimStateGetSimState ()
 Get the simulation state for this device.
 
StatusSignal< int > & GetVersionMajor (bool refresh=true)
 App Major Version number.
 
StatusSignal< int > & GetVersionMinor (bool refresh=true)
 App Minor Version number.
 
StatusSignal< int > & GetVersionBugfix (bool refresh=true)
 App Bugfix Version number.
 
StatusSignal< int > & GetVersionBuild (bool refresh=true)
 App Build Version number.
 
StatusSignal< int > & GetVersion (bool refresh=true)
 Full Version of firmware in device.
 
StatusSignal< int > & GetFaultField (bool refresh=true)
 Integer representing all fault flags reported by the device.
 
StatusSignal< int > & GetStickyFaultField (bool refresh=true)
 Integer representing all (persistent) sticky fault flags reported by the device.
 
StatusSignal< bool > & GetIsProLicensed (bool refresh=true)
 Whether the device is Phoenix Pro licensed.
 
StatusSignal< units::voltage::volt_t > & GetSupplyVoltage (bool refresh=true)
 Measured supply voltage to the CANrange.
 
StatusSignal< units::length::meter_t > & GetDistance (bool refresh=true)
 Distance to the nearest object in the configured field of view of the CANrange.
 
StatusSignal< units::time::second_t > & GetMeasurementTime (bool refresh=true)
 Timestamp of the most recent measurements.
 
StatusSignal< units::dimensionless::scalar_t > & GetSignalStrength (bool refresh=true)
 Approximate signal strength of the measurement.
 
StatusSignal< bool > & GetIsDetected (bool refresh=true)
 Whether the CANrange detects an object using the configured proximity parameters.
 
StatusSignal< signals::MeasurementHealthValue > & GetMeasurementHealth (bool refresh=true)
 Health of the distance measurement.
 
StatusSignal< units::dimensionless::scalar_t > & GetAmbientSignal (bool refresh=true)
 The amount of ambient infrared light that the sensor is detecting.
 
StatusSignal< units::length::meter_t > & GetDistanceStdDev (bool refresh=true)
 Standard Deviation of the distance measurement.
 
StatusSignal< units::angle::degree_t > & GetRealFOVCenterX (bool refresh=true)
 The actual center of the FOV in the X direction.
 
StatusSignal< units::angle::degree_t > & GetRealFOVCenterY (bool refresh=true)
 The actual center of the FOV in the Y direction.
 
StatusSignal< units::angle::degree_t > & GetRealFOVRangeX (bool refresh=true)
 The actual range of the FOV in the X direction.
 
StatusSignal< units::angle::degree_t > & GetRealFOVRangeY (bool refresh=true)
 The actual range of the FOV in the Y direction.
 
StatusSignal< bool > & GetFault_Hardware (bool refresh=true)
 Hardware fault occurred.
 
StatusSignal< bool > & GetStickyFault_Hardware (bool refresh=true)
 Hardware fault occurred.
 
StatusSignal< bool > & GetFault_Undervoltage (bool refresh=true)
 Device supply voltage dropped to near brownout levels.
 
StatusSignal< bool > & GetStickyFault_Undervoltage (bool refresh=true)
 Device supply voltage dropped to near brownout levels.
 
StatusSignal< bool > & GetFault_BootDuringEnable (bool refresh=true)
 Device boot while detecting the enable signal.
 
StatusSignal< bool > & GetStickyFault_BootDuringEnable (bool refresh=true)
 Device boot while detecting the enable signal.
 
StatusSignal< bool > & GetFault_UnlicensedFeatureInUse (bool refresh=true)
 An unlicensed feature is in use, device may not behave as expected.
 
StatusSignal< bool > & GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
 An unlicensed feature is in use, device may not behave as expected.
 
ctre::phoenix::StatusCode SetControl (const controls::ControlRequest &request)
 Control device with generic control request object.
 
ctre::phoenix::StatusCode ClearStickyFaults (units::time::second_t timeoutSeconds)
 Clear the sticky faults in the device.
 
ctre::phoenix::StatusCode ClearStickyFaults ()
 Clear the sticky faults in the device.
 
ctre::phoenix::StatusCode ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
 Clear sticky fault: Hardware fault occurred.
 
ctre::phoenix::StatusCode ClearStickyFault_Hardware ()
 Clear sticky fault: Hardware fault occurred.
 
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
 Clear sticky fault: Device supply voltage dropped to near brownout levels.
 
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage ()
 Clear sticky fault: Device supply voltage dropped to near brownout levels.
 
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
 Clear sticky fault: Device boot while detecting the enable signal.
 
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable ()
 Clear sticky fault: Device boot while detecting the enable signal.
 
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)
 Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
 
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse ()
 Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
 
- Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
 ParentDevice (int deviceID, std::string model, std::string canbus)
 
virtual ~ParentDevice ()=default
 
 ParentDevice (ParentDevice const &)=delete
 
ParentDeviceoperator= (ParentDevice const &)=delete
 
int GetDeviceID () const
 
const std::string & GetNetwork () const
 
uint64_t GetDeviceHash () const
 Gets a number unique for this device's hardware type and ID.
 
std::shared_ptr< const controls::ControlRequestGetAppliedControl () const
 Get the latest applied control.
 
std::shared_ptr< controls::ControlRequestGetAppliedControl ()
 Get the latest applied control.
 
bool HasResetOccurred ()
 
std::function< bool()> GetResetOccurredChecker () const
 
bool IsConnected (units::second_t maxLatencySeconds=500_ms)
 Returns whether the device is still connected to the robot.
 
StatusSignal< double > & GetGenericSignal (uint32_t signal, bool refresh=true)
 This is a reserved routine for internal testing.
 
ctre::phoenix::StatusCode OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_ms)
 Optimizes the device's bus utilization by reducing the update frequencies of its status signals.
 
ctre::phoenix::StatusCode ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)
 Resets the update frequencies of all the device's status signals to the defaults.
 

Additional Inherited Members

- Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (Devices &... devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
 
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
 
template<size_t N>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
 
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
 
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
 
template<size_t N>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
 
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode ResetSignalFrequenciesForAll (Devices &... devices)
 Resets the update frequencies of all the devices' status signals to the defaults.
 
static ctre::phoenix::StatusCode ResetSignalFrequenciesForAll (const std::vector< ParentDevice * > &devices)
 Resets the update frequencies of all the devices' status signals to the defaults.
 
template<size_t N>
static ctre::phoenix::StatusCode ResetSignalFrequenciesForAll (const std::array< ParentDevice *, N > &devices)
 Resets the update frequencies of all the devices' status signals to the defaults.
 
- Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode SetControlPrivate (const controls::ControlRequest &request)
 
template<typename T >
StatusSignal< T > & LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)
 
template<typename T >
StatusSignal< T > & LookupStatusSignal (uint16_t spn, std::function< std::map< uint16_t, std::string >()> mapFiller, std::string signalName, bool reportOnConstruction, bool refresh)
 
template<typename T , typename U >
StatusSignal< T > LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh)
 Returns a unitless version of the StatusSignal by value.
 
- Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier deviceIdentifier
 
- Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static controls::EmptyControl _emptyControl {}
 
template<typename... Devices>
static constexpr bool is_all_device_v = is_all_device<Devices...>::value
 Whether all types passed in are subclasses of ParentDevice.
 

Detailed Description

Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device.

Member Typedef Documentation

◆ Configuration

Constructor & Destructor Documentation

◆ CoreCANrange() [1/2]

ctre::phoenix6::hardware::core::CoreCANrange::CoreCANrange ( int deviceId,
std::string canbus = "" )

Constructs a new CANrange object.

Parameters
deviceIdID of the device, as configured in Phoenix Tuner.
canbusName of the CAN bus this device is on. Possible CAN bus strings are:
  • "rio" for the native roboRIO CAN bus
  • CANivore name or serial number
  • SocketCAN interface (non-FRC Linux only)
  • "*" for any CANivore seen by the program
  • empty string (default) to select the default for the system:
    • "rio" on roboRIO
    • "can0" on Linux
    • "*" on Windows

◆ CoreCANrange() [2/2]

ctre::phoenix6::hardware::core::CoreCANrange::CoreCANrange ( int deviceId,
CANBus canbus )
inline

Constructs a new CANrange object.

Parameters
deviceIdID of the device, as configured in Phoenix Tuner.
canbusThe CAN bus this device is on.

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_BootDuringEnable ( )
inline

Clear sticky fault: Device boot while detecting the enable signal.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds)
inline

Clear sticky fault: Device boot while detecting the enable signal.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

◆ ClearStickyFault_Hardware() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_Hardware ( )
inline

Clear sticky fault: Hardware fault occurred.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds)
inline

Clear sticky fault: Hardware fault occurred.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_Undervoltage ( )
inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds)
inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_UnlicensedFeatureInUse ( )
inline

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFault_UnlicensedFeatureInUse ( units::time::second_t timeoutSeconds)
inline

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFaults ( )
inline

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::ClearStickyFaults ( units::time::second_t timeoutSeconds)
inline

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

◆ GetAmbientSignal()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetAmbientSignal ( bool refresh = true)

The amount of ambient infrared light that the sensor is detecting.

For ideal operation, this should be as low as possible.

Short-range mode reduces the influence of ambient infrared light.

  • Minimum Value: 0
  • Maximum Value: 65535
  • Default Value: 0
  • Units:

Default Rates:

  • CAN 2.0: 20.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
AmbientSignal Status Signal Object

◆ GetConfigurator() [1/2]

configs::CANrangeConfigurator & ctre::phoenix6::hardware::core::CoreCANrange::GetConfigurator ( )
inline

Gets the configurator for this CANrange.

Gets the configurator for this CANrange

Returns
Configurator for this CANrange

◆ GetConfigurator() [2/2]

configs::CANrangeConfigurator const & ctre::phoenix6::hardware::core::CoreCANrange::GetConfigurator ( ) const
inline

Gets the configurator for this CANrange.

Gets the configurator for this CANrange

Returns
Configurator for this CANrange

◆ GetDistance()

StatusSignal< units::length::meter_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetDistance ( bool refresh = true)

Distance to the nearest object in the configured field of view of the CANrange.

  • Minimum Value: 0.0
  • Maximum Value: 65.535
  • Default Value: 0
  • Units: m

Default Rates:

  • CAN 2.0: 100.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Distance Status Signal Object

◆ GetDistanceStdDev()

StatusSignal< units::length::meter_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetDistanceStdDev ( bool refresh = true)

Standard Deviation of the distance measurement.

  • Minimum Value: 0.0
  • Maximum Value: 1.3107000000000002
  • Default Value: 0
  • Units: m

Default Rates:

  • CAN 2.0: 20.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
DistanceStdDev Status Signal Object

◆ GetFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetFault_BootDuringEnable ( bool refresh = true)

Device boot while detecting the enable signal.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_BootDuringEnable Status Signal Object

◆ GetFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetFault_Hardware ( bool refresh = true)

Hardware fault occurred.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_Hardware Status Signal Object

◆ GetFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetFault_Undervoltage ( bool refresh = true)

Device supply voltage dropped to near brownout levels.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_Undervoltage Status Signal Object

◆ GetFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetFault_UnlicensedFeatureInUse ( bool refresh = true)

An unlicensed feature is in use, device may not behave as expected.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_UnlicensedFeatureInUse Status Signal Object

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetFaultField ( bool refresh = true)

Integer representing all fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

  • Minimum Value: 0
  • Maximum Value: 4294967295
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
FaultField Status Signal Object

◆ GetIsDetected()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetIsDetected ( bool refresh = true)

Whether the CANrange detects an object using the configured proximity parameters.

  • Default Value: 0

Default Rates:

  • CAN 2.0: 100.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
IsDetected Status Signal Object

◆ GetIsProLicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetIsProLicensed ( bool refresh = true)

Whether the device is Phoenix Pro licensed.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
IsProLicensed Status Signal Object

◆ GetMeasurementHealth()

StatusSignal< signals::MeasurementHealthValue > & ctre::phoenix6::hardware::core::CoreCANrange::GetMeasurementHealth ( bool refresh = true)

Health of the distance measurement.

Default Rates:

  • CAN 2.0: 100.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
MeasurementHealth Status Signal Object

◆ GetMeasurementTime()

StatusSignal< units::time::second_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetMeasurementTime ( bool refresh = true)

Timestamp of the most recent measurements.

This is not synchronized to any other clock source.

Users can use this to check when the measurements are updated.

  • Minimum Value: 0.0
  • Maximum Value: 65.535
  • Default Value: 0
  • Units: s

Default Rates:

  • CAN 2.0: 100.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
MeasurementTime Status Signal Object

◆ GetRealFOVCenterX()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetRealFOVCenterX ( bool refresh = true)

The actual center of the FOV in the X direction.

This takes into account the user-configured FOVCenterX and FOVRangeX.

  • Minimum Value: -16.0
  • Maximum Value: 15.875
  • Default Value: 0
  • Units: deg

Default Rates:

  • CAN 2.0: 4.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
RealFOVCenterX Status Signal Object

◆ GetRealFOVCenterY()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetRealFOVCenterY ( bool refresh = true)

The actual center of the FOV in the Y direction.

This takes into account the user-configured FOVCenterY and FOVRangeY.

  • Minimum Value: -16.0
  • Maximum Value: 15.875
  • Default Value: 0
  • Units: deg

Default Rates:

  • CAN 2.0: 4.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
RealFOVCenterY Status Signal Object

◆ GetRealFOVRangeX()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetRealFOVRangeX ( bool refresh = true)

The actual range of the FOV in the X direction.

This takes into account the user-configured FOVRangeX.

  • Minimum Value: 0.0
  • Maximum Value: 31.875
  • Default Value: 0
  • Units: deg

Default Rates:

  • CAN 2.0: 4.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
RealFOVRangeX Status Signal Object

◆ GetRealFOVRangeY()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetRealFOVRangeY ( bool refresh = true)

The actual range of the FOV in the Y direction.

This takes into account the user-configured FOVRangeY.

  • Minimum Value: 0.0
  • Maximum Value: 31.875
  • Default Value: 0
  • Units: deg

Default Rates:

  • CAN 2.0: 4.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
RealFOVRangeY Status Signal Object

◆ GetSignalStrength()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetSignalStrength ( bool refresh = true)

Approximate signal strength of the measurement.

A higher value indicates a higher strength of signal.

A value of ~2500 is typical when detecting an object under short-range conditions.

  • Minimum Value: 0
  • Maximum Value: 65535
  • Default Value: 0
  • Units:

Default Rates:

  • CAN 2.0: 100.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
SignalStrength Status Signal Object

◆ GetSimState()

sim::CANrangeSimState & ctre::phoenix6::hardware::core::CoreCANrange::GetSimState ( )
inline

Get the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

Returns
Simulation state

◆ GetStickyFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetStickyFault_BootDuringEnable ( bool refresh = true)

Device boot while detecting the enable signal.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_BootDuringEnable Status Signal Object

◆ GetStickyFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetStickyFault_Hardware ( bool refresh = true)

Hardware fault occurred.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_Hardware Status Signal Object

◆ GetStickyFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetStickyFault_Undervoltage ( bool refresh = true)

Device supply voltage dropped to near brownout levels.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_Undervoltage Status Signal Object

◆ GetStickyFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreCANrange::GetStickyFault_UnlicensedFeatureInUse ( bool refresh = true)

An unlicensed feature is in use, device may not behave as expected.

  • Default Value: False

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_UnlicensedFeatureInUse Status Signal Object

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetStickyFaultField ( bool refresh = true)

Integer representing all (persistent) sticky fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

  • Minimum Value: 0
  • Maximum Value: 4294967295
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFaultField Status Signal Object

◆ GetSupplyVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreCANrange::GetSupplyVoltage ( bool refresh = true)

Measured supply voltage to the CANrange.

  • Minimum Value: 4
  • Maximum Value: 16.75
  • Default Value: 4
  • Units: V

Default Rates:

  • CAN 2.0: 100.0 Hz
  • CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
SupplyVoltage Status Signal Object

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetVersion ( bool refresh = true)

Full Version of firmware in device.

The format is a four byte value.

  • Minimum Value: 0
  • Maximum Value: 4294967295
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Version Status Signal Object

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetVersionBugfix ( bool refresh = true)

App Bugfix Version number.

  • Minimum Value: 0
  • Maximum Value: 255
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
VersionBugfix Status Signal Object

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetVersionBuild ( bool refresh = true)

App Build Version number.

  • Minimum Value: 0
  • Maximum Value: 255
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
VersionBuild Status Signal Object

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetVersionMajor ( bool refresh = true)

App Major Version number.

  • Minimum Value: 0
  • Maximum Value: 255
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
VersionMajor Status Signal Object

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreCANrange::GetVersionMinor ( bool refresh = true)

App Minor Version number.

  • Minimum Value: 0
  • Maximum Value: 255
  • Default Value: 0
  • Units:

Default Rates:

  • CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
VersionMinor Status Signal Object

◆ SetControl()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreCANrange::SetControl ( const controls::ControlRequest & request)
inline

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

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