Class CanBus

java.lang.Object

com.studica.frc.CanBus

public final class CanBus
extends Object

SystemCore CAN bus configuration (ports S0-S4).

Studica CAN devices send CAN FD frames automatically whenever their bus is in an FD mode, so switching a bus is all that's needed to use FD.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	CanBus.Mode	CAN bus modes.

Method Summary

Modifier and Type	Method	Description
static Optional<CanBus.Mode>	getMode(org.wpilib.hardware.bus.CANPort port)	Gets a bus's current mode.
static Status	requestMode(org.wpilib.hardware.bus.CANPort port, CanBus.Mode mode)	Switches a bus to a mode, blocking until it is back up in that mode (up to 3 seconds).

Methods inherited from class Object

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

Method Details

requestMode

public static Status requestMode(org.wpilib.hardware.bus.CANPort port,
 CanBus.Mode mode)

Switches a bus to a mode, blocking until it is back up in that mode (up to 3 seconds).

This affects every device on the bus, from every vendor, and the bus drops briefly while it switches. Call it once at startup, before creating devices. Every device on an FD bus must support CAN FD.

Parameters:

port - CAN port S0-S4

mode - the mode to switch to

Returns:

the result

getMode

public static Optional<CanBus.Mode> getMode(org.wpilib.hardware.bus.CANPort port)

Gets a bus's current mode.

Parameters:

port - CAN port S0-S4

Returns:

the mode, or empty if not reported yet or non-standard