CANifier

class phoenix5.CANifier(deviceNumber: int)

Bases: CANBusAddressable

CTRE CANifier

Device for interfacing common devices to the CAN bus.

Constructor.

Parameters:

deviceNumber – The CAN Device ID of the CANifier.

class GeneralPin(value: int)

Bases: pybind11_object

General IO Pins on the CANifier

Members:

QUAD_IDX : Quadrature Idx pin

QUAD_B : Quadrature B pin

QUAD_A : Quadrature A pin

LIMR : Reverse limit pin

LIMF : Forward limit pin

SDA : SDA pin

SCL : SCL pin

SPI_CS : SPI_CS pin

SPI_MISO_PWM2P : SPI_MISO_PWM2 pin

SPI_MOSI_PWM1P : SPI_MOSI_PWM1 pin

SPI_CLK_PWM0P : SPI_CLK_PWM0 pin

LIMF = <GeneralPin.LIMF: 4>
LIMR = <GeneralPin.LIMR: 3>
QUAD_A = <GeneralPin.QUAD_A: 2>
QUAD_B = <GeneralPin.QUAD_B: 1>
QUAD_IDX = <GeneralPin.QUAD_IDX: 0>
SCL = <GeneralPin.SCL: 6>
SDA = <GeneralPin.SDA: 5>
SPI_CLK_PWM0P = <GeneralPin.SPI_CLK_PWM0P: 10>
SPI_CS = <GeneralPin.SPI_CS: 7>
SPI_MISO_PWM2P = <GeneralPin.SPI_MISO_PWM2P: 8>
SPI_MOSI_PWM1P = <GeneralPin.SPI_MOSI_PWM1P: 9>
property name
property value
class LEDChannel(value: int)

Bases: pybind11_object

Enum for the LED Output Channels

Members:

A : LED Channel A

B : LED Channel B

C : LED Channel C

A = <LEDChannel.A: 0>
B = <LEDChannel.B: 1>
C = <LEDChannel.C: 2>
property name
property value
class PWMChannel(value: int)

Bases: pybind11_object

Enum for the PWM Input Channels

Members:

PWMChannel0 : PWM Channel 0

PWMChannel1 : PWM Channel 1

PWMChannel2 : PWM Channel 2

PWMChannel3 : PWM Channel 3

PWMChannel0 = <PWMChannel.PWMChannel0: 0>
PWMChannel1 = <PWMChannel.PWMChannel1: 1>
PWMChannel2 = <PWMChannel.PWMChannel2: 2>
PWMChannel3 = <PWMChannel.PWMChannel3: 3>
property name
property value
property PWMChannelCount

Number of PWM channels available to CANifier

class PinValues

Bases: pybind11_object

Structure to hold the pin values.

property LIMF

Forward limit pin

property LIMR

Reverse limit pin

property QUAD_A

Quadrature A pin

property QUAD_B

Quadrature B pin

property QUAD_IDX

Quadrature Idx pin

property SCL

SCL pin

property SDA

SDA pin

property SPI_CLK_PWM0

SPI_CLK_PWM0 pin

property SPI_CS_PWM3

SPI_CS_PWM3 pin

property SPI_MISO_PWM2

SPI_MISO_PWM2 pin

property SPI_MOSI_PWM1

SPI_MOSI_PWM1 pin

clearStickyFaults(timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(allConfigs: phoenix5._ctre.CANifierConfiguration, timeoutMs: int = 50) → phoenix5._ctre.ErrorCode

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(clearPositionOnLimitF: bool, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(clearPositionOnLimitR: bool, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(clearPositionOnQuadIdx: bool, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(timeoutMs: int = 50) → phoenix5._ctre.ErrorCode

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

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(paramIndex: int, timeoutMs: int = 0) → int

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(*args, **kwargs)

Overloaded function.

  1. configGetParameter(self: phoenix5._ctre.CANifier, param: phoenix5._ctre.ParamEnum, ordinal: int, timeoutMs: int = 0) -> float

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.

  1. configGetParameter(self: phoenix5._ctre.CANifier, param: phoenix5._ctre.ParamEnum, valueToSend: int, ordinal: int, timeoutMs: int) -> tuple[phoenix5._ctre.ErrorCode, int, int]

Gets a parameter by passing an int by reference

Parameters:

  • param – Parameter enumeration

  • valueToSend – Value to send to parameter

  • valueReceived – Reference to integer to receive

  • subValue – SubValue of parameter

  • 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.

configSetCustomParam(newValue: int, paramIndex: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(param: phoenix5._ctre.ParamEnum, value: float, subValue: int, ordinal: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(period: phoenix5._ctre.sensors.SensorVelocityMeasPeriod, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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.

  • 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(windowSize: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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.

static destroyAllCANifiers() → None

Destructs all CANifier objects

enablePWMOutput(pwmChannel: int, bEnable: bool) → phoenix5._ctre.ErrorCode

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(allConfigs: phoenix5._ctre.CANifierConfiguration, timeoutMs: int = 50) → None

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() → float

Gets the bus voltage seen by the device.

Returns:

The bus voltage value (in volts).

getFaults(toFill: phoenix5._ctre.CANifierFaults) → phoenix5._ctre.ErrorCode

Gets the CANifier fault status

Parameters:

toFill – Container for fault statuses.

Returns:

Error Code generated by function. 0 indicates no error.

getFirmwareVersion() → int

Gets the firmware version of the device.

Returns:

Firmware version of device.

getGeneralInput(inputPin: phoenix5._ctre.CANifier.GeneralPin) → bool

Gets the state of the specified pin

Parameters:

inputPin – The index of the pin.

Returns:

The state of the pin.

getGeneralInputs(allPins: phoenix5._ctre.CANifier.PinValues) → phoenix5._ctre.ErrorCode

Gets the state of all General Pins

Parameters:

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

getLastError() → phoenix5._ctre.ErrorCode

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(pwmChannel: phoenix5._ctre.CANifier.PWMChannel) → tuple[phoenix5._ctre.ErrorCode, Annotated[list[float], FixedSize(2)]]

Gets the PWM Input

Parameters:

  • pwmChannel – PWM channel to get.

  • pulseWidthAndPeriod – Double array to hold Duty Cycle [0] and Period [1].

getQuadraturePosition() → int

Gets the quadrature encoder’s position

Returns:

Position of encoder

getQuadratureVelocity() → int

Gets the quadrature encoder’s velocity

Returns:

Velocity of encoder

getStatusFramePeriod(frame: phoenix5._ctre.CANifierStatusFrame, timeoutMs: int = 0) → int

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(toFill: phoenix5._ctre.CANifierStickyFaults) → phoenix5._ctre.ErrorCode

Gets the CANifier sticky fault status

Parameters:

toFill – Container for sticky fault statuses.

Returns:

Error Code generated by function. 0 indicates no error.

hasResetOccurred() → bool

Returns true if the device has reset since last call.

Returns:

Has a Device Reset Occurred?

setControlFramePeriod(frame: phoenix5._ctre.CANifierControlFrame, periodMs: int) → phoenix5._ctre.ErrorCode

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(outputPin: phoenix5._ctre.CANifier.GeneralPin, outputValue: bool, outputEnable: bool) → phoenix5._ctre.ErrorCode

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(outputBits: int, isOutputBits: int) → phoenix5._ctre.ErrorCode

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 #GeneralPin enum.

  • isOutputBits – A boolean bit mask that sets the pins to be outputs or inputs. A bit of 1 enables output.

setLEDOutput(percentOutput: float, ledChannel: phoenix5._ctre.CANifier.LEDChannel) → phoenix5._ctre.ErrorCode

Sets the LED Output

Parameters:

  • percentOutput – Output duty cycle expressed as percentage.

  • ledChannel – Channel to set the output of.

setPWMOutput(pwmChannel: int, dutyCycle: float) → phoenix5._ctre.ErrorCode

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(newPosition: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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(statusFrame: phoenix5._ctre.CANifierStatusFrame, periodMs: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

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.