Package com.reduxrobotics.sensors.canandcolor

Class Canandcolor.Faults

java.lang.Object
com.reduxrobotics.sensors.canandcolor.Canandcolor.Faults
Enclosing class:
Canandcolor
public static class Canandcolor.Faults extends Object
A class to hold device faults for the Canandcolor, as returned by Canandcolor.getStickyFaults() and Canandcolor.getActiveFaults().

  • Constructor Summary

    Constructors
    Constructor
    Description
    Faults(byte faultField, boolean valid)
    Constructor for the Canandcolor.Faults object.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    canGeneralError()
    Returns the CAN general error flag, which will raise if the device cannot RX packets reliably.
    boolean
    canIDConflict()
    Returns the CAN ID conflict flag, which is set to true if there is a CAN id conflict.
    boolean
    faultsValid()
    Flag if any faults data has been received at all from the device.
    boolean
    hardwareFaultColor()
    Returns the color sensor hardware fault flag, which will raise if the color sensor is unreadable.
    boolean
    hardwareFaultProximity()
    Returns the proximity sensor hardware fault flag, which will raise if the proximity sensor is unreadable.
    boolean
    outOfTemperatureRange()
    Returns the temperature range flag, which will raise if the device is not between 0-70 degrees Celsius.
    boolean
    powerCycle()
    Returns the power cycle fault flag, which is set to true when the device first boots.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • Faults

      public Faults(byte faultField, boolean valid)
      Constructor for the Canandcolor.Faults object.
      Parameters:
      faultField - The byte from which to extract faults.
      valid - whether the data bitfield is valid (and not just uninited data)

  • Method Details

    • powerCycle

      public boolean powerCycle()
      Returns the power cycle fault flag, which is set to true when the device first boots. Clearing sticky faults and then checking this flag can be used to determine if the device rebooted.
      Returns:
      fault state

    • canIDConflict

      public boolean canIDConflict()
      Returns the CAN ID conflict flag, which is set to true if there is a CAN id conflict. In practice, you should physically inspect the device to ensure it's not flashing blue.
      Returns:
      fault state

    • canGeneralError

      public boolean canGeneralError()
      Returns the CAN general error flag, which will raise if the device cannot RX packets reliably. This is usually due to wiring issues, such as a shorted CAN bus.
      Returns:
      fault state

    • outOfTemperatureRange

      public boolean outOfTemperatureRange()
      Returns the temperature range flag, which will raise if the device is not between 0-70 degrees Celsius. This may be of concern if the device is near very active motors.
      Returns:
      fault state

    • hardwareFaultProximity

      public boolean hardwareFaultProximity()
      Returns the proximity sensor hardware fault flag, which will raise if the proximity sensor is unreadable.
      Returns:
      fault state

    • hardwareFaultColor

      public boolean hardwareFaultColor()
      Returns the color sensor hardware fault flag, which will raise if the color sensor is unreadable.
      Returns:
      fault state

    • faultsValid

      public boolean faultsValid()
      Flag if any faults data has been received at all from the device. This will be faults until the first status frame arrives either after the start of robot code or after sticky faults have been cleared.
      Returns:
      if fault data has actually been received (and thus if the other fields are valid)