Struct ctre::canifier::CANifier

pub struct CANifier { /* private fields */ }

CTRE CANifier

Device for interfacing common devices to the CAN bus.

Implementations

impl CANifier

pub fn new(device_number: i32) -> CANifier

Constructor.

• device_number - The CAN Device ID of the CANifier.

pub fn _set_led_output(
    &self,
    duty_cycle: u32,
    led_channel: LEDChannel
) -> ErrorCode

pub fn set_led_output(
    &self,
    percent_output: f64,
    led_channel: LEDChannel
) -> ErrorCode

pub fn set_general_outputs(
    &self,
    outputs_bits: u32,
    is_output_bits: u32
) -> ErrorCode

Sets the output of all General Pins

• output_bits - A bit mask of all the output states. LSB->MSB is in the order of the GeneralPin enum.
• is_output_bits - A boolean bit mask that sets the pins to be outputs or inputs. A bit of 1 enables output.

pub fn set_general_output(
    &self,
    output_pin: GeneralPin,
    output_value: bool,
    output_enable: bool
) -> ErrorCode

pub fn _set_pwm_output(&self, pwm_channel: u32, duty_cycle: u32) -> ErrorCode

pub fn set_pwm_output(
    &self,
    pwm_channel: PWMChannel,
    duty_cycle: f64
) -> ErrorCode

Sets the PWM Output Currently supports PWM 0, PWM 1, and PWM 2

• pwm_channel - Index of the PWM channel to output.
• duty_cycle - Duty Cycle (0 to 1) to output. Default period of the signal is 4.2 ms.

pub fn _enable_pwm_output(&self, pwm_channel: u32, b_enable: bool) -> ErrorCode

pub fn enable_pwm_output(
    &self,
    pwm_channel: PWMChannel,
    enable: bool
) -> ErrorCode

Enables PWM Outputs Currently supports PWM 0, PWM 1, and PWM 2

pub fn _get_general_inputs(&self, all_pins: &mut [bool]) -> ErrorCode

pub fn get_general_inputs(&self) -> Result<PinValues>

Gets the state of all General Pins

pub fn get_general_input(&self, input_pin: GeneralPin) -> Result<bool>

Gets the state of the specified pin

pub fn get_pwm_input(&self, pwm_channel: PWMChannel) -> Result<[f64; 2]>

Gets the PWM Input. Returns a 2-array holding the Pulse Width (microseconds) [0] and Period (microseconds) [1].

pub fn get_last_error(&self) -> ErrorCode

pub fn get_bus_voltage(&self) -> Result<f64>

pub fn get_quadrature_position(&self) -> Result<i32>

pub fn set_quadrature_position(&self, pos: i32, timeout_ms: i32) -> ErrorCode

pub fn get_quadrature_velocity(&self) -> Result<i32>

pub fn config_velocity_measurement_period(
    &self,
    period: VelocityMeasPeriod,
    timeout_ms: i32
) -> 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.

pub fn config_velocity_measurement_window(
    &self,
    window: i32,
    timeout_ms: i32
) -> ErrorCode

pub fn config_set_parameter(
    &self,
    param: ParamEnum,
    value: f64,
    sub_value: i32,
    ordinal: i32,
    timeout_ms: i32
) -> 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.

pub fn config_get_parameter(
    &self,
    param: ParamEnum,
    ordinal: i32,
    timeout_ms: i32
) -> Result<f64>

pub fn config_set_custom_param(
    &self,
    new_value: i32,
    param_index: i32,
    timeout_ms: i32
) -> 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.

• new_value - Value for custom parameter.
• param_index - Index of custom parameter [0,1]
• timeout_ms - 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.

pub fn config_get_custom_param(
    &self,
    param_index: i32,
    timout_ms: i32
) -> Result<i32>

Gets the value of a custom parameter. This is for arbitrary use.

• param_index - Index of custom parameter [0,1].
• timeout_ms - 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.

pub fn get_faults(&self) -> Result<Faults>

pub fn get_sticky_faults(&self) -> Result<StickyFaults>

pub fn clear_sticky_faults(&self, timeout_ms: i32) -> ErrorCode

pub fn get_firmware_version(&self) -> Result<i32>

pub fn has_reset_occurred(&self) -> Result<bool>

pub fn set_status_frame_period(
    &self,
    frame: StatusFrame,
    period_ms: i32,
    timeout_ms: i32
) -> ErrorCode

pub fn get_status_frame_period(
    &self,
    frame: StatusFrame,
    timeout_ms: i32
) -> Result<i32>

pub fn set_control_frame_period(
    &self,
    frame: ControlFrame,
    period_ms: i32
) -> ErrorCode

Trait Implementations

impl Debug for CANifier

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.