Package com.reduxrobotics.sensors.canandcolor

Class CanandcolorFaults

java.lang.Object
com.reduxrobotics.sensors.canandcolor.CanandcolorFaults
All Implemented Interfaces:
StructSerializable, WPISerializable
public class CanandcolorFaults extends Object implements StructSerializable
A class to hold device faults for the Canandcolor, as returned by Canandcolor.getStickyFaults() and Canandcolor.getActiveFaults().

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final CanandcolorFaultsStruct
    struct
    This field is necessary for WPILib structs to work around Java type erasure.

  • Constructor Summary

    Constructors
    Constructor
    Description
    CanandcolorFaults(int faultField)
    Constructor, assuming valid data.
    CanandcolorFaults(int faultField, boolean valid)
    Constructor for the CanandcolorFaults 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.
    int
    faultBitField()
    Returns the faults bitfield as an integer.
    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
    i2cBusRecovery()
    Returns the I²C bus recovery fault flag, which will raise if the color sensor is resetting its internal I²C bus.
    boolean
    outOfTemperatureRange()
    Returns the temperature range flag, which will raise if the device is not in its rated temperature range.
    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

  • Field Details

    • struct

      public static final CanandcolorFaultsStruct struct
      This field is necessary for WPILib structs to work around Java type erasure.

  • Constructor Details

    • CanandcolorFaults

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

    • CanandcolorFaults

      public CanandcolorFaults(int faultField)
      Constructor, assuming valid data.
      Parameters:
      faultField - The byte from which to extract faults.

  • Method Details

    • faultBitField

      public int faultBitField()
      Returns the faults bitfield as an integer.

      Which bits corresponds to which fault is documented in the online message spec.

      Returns:
      faults bitfield

    • 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 in its rated temperature range. 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

    • i2cBusRecovery

      public boolean i2cBusRecovery()
      Returns the I²C bus recovery fault flag, which will raise if the color sensor is resetting its internal I²C bus.

      This fault is of no concern as long as it is not continuously active for long. If the device is stuck in bus recovery, that may indicate a hardware defect.

      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)