valor::sensors::CANdleSensor Class Reference

Sensor for controlling the CANdle and associated LEDs. More...

#include <valkyrie/sensors/CANdleSensor.h>

Inheritance diagram for valor::sensors::CANdleSensor:

Public Types
enum class	Priority { LOW , MEDIUM , HIGH }

Public Member Functions
	CANdleSensor (int ledCount, int numSegments, int canID, std::string canbus="baseCAN")
	Construct a new CANdleSensor object.
	CANdleSensor (std::vector< int > segmentSizes, int canID, std::string canbus="baseCAN")
	CANdleSensor (int ledCount, int numSegments)
	CANdleSensor (std::vector< int > segmentSizes)
void	SetBrightness (double brightness, bool saveImmediately=true)
void	SetStripType (ctre::phoenix6::signals::StripTypeValue stripType, bool saveImmediately=true)
void	ApplyConfig ()
void	SetLED (int led, frc::Color8Bit color)
	Set the color of a specific LED.
void	SetColor (int segment, frc::Color8Bit color, Priority priority=Priority::LOW)
	Set the color of a specific segment.
void	SetColor (frc::Color8Bit color, Priority priority=Priority::LOW)
	Set the color for all segments.
template<typename T>
void	SetAnimation (int segment, frc::Color8Bit color, Priority priority=Priority::LOW)
	Set an animation for a specific segment.
template<typename T>
void	SetAnimation (frc::Color8Bit color, Priority priority=Priority::LOW)
	Set an animation for all segments.
void	ClearAnimation (int segment)
	Clears any active animation for a specific segment.
void	Reset () override
	Resets the CANdle device.
Public Member Functions inherited from valor::sensors::BaseSensor< int >
void	SetGetter (std::function< int()> _lambda)
	Set the lambda function to fetch sensor data.
void	ApplyPostProcessing (std::function< int(int)> func)
	Set a post-processing function for sensor data.
int	Get () const
	Get the current sensor state.
void	Refresh () override
	Refresh the sensor state.
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()=default
	Default construct an uninitialized Loggable.
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Static Public Member Functions
static frc::Color8Bit	CANcoderMagnetHealthGetter (ctre::phoenix6::hardware::CANcoder *cancoder)
	Get the health status of a CANcoder magnet.
static frc::Color8Bit	CANrangeHealthGetter (ctre::phoenix6::hardware::core::CoreCANrange &canrange)
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()

Static Public Attributes
static constexpr frc::Color8Bit	VALOR_GOLD {0xEE, 0xA8, 0x00}
static constexpr frc::Color8Bit	VALOR_PURPLE {0xFF, 0x00, 0xFF}
static constexpr frc::Color8Bit	RED {0xFF, 0x00, 0x00}
static constexpr frc::Color8Bit	ORANGE {0xFF, 0x30, 0x00}
static constexpr frc::Color8Bit	GREEN {0x00, 0xFF, 0x00}
static constexpr frc::Color8Bit	BLUE {0x00, 0x00, 0xFF}
static constexpr frc::Color8Bit	LIGHT_BLUE {0xFF, 0x00, 0xF9}
static constexpr frc::Color8Bit	WHITE {0xFF, 0xFF, 0xFF}
static constexpr frc::Color8Bit	OFF {0x00, 0x00, 0x00}
Static Public Attributes inherited from valor::sensors::BaseSensorCore
static constexpr units::millisecond_t	LOOP_PERIOD = frc::TimedRobot::kDefaultPeriod / 2

Additional Inherited Members
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.
Protected Attributes inherited from valor::sensors::BaseSensor< int >
std::function< int()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< int(int)>	postProcessor
	Lambda function to post-process sensor data.
int	prevState
	Previous and current sensor states.
int	currState

Detailed Description

Sensor for controlling the CANdle and associated LEDs.

This class manages a CANdle device and any connected LEDs. It supports setting static colors, animations, and segment-specific configurations.

Constructor & Destructor Documentation

CANdleSensor()

valor::sensors::CANdleSensor::CANdleSensor	(	int	ledCount,
		int	numSegments,
		int	canID,
		std::string	canbus = "baseCAN" )

Construct a new CANdleSensor object.

Parameters

robot	Reference to the main robot instance.
ledCount	Number of external LEDs connected to the CANdle.
numSegments	Number of LED segments.
canID	CAN ID assigned to the CANdle.
canbus	CAN bus the CANdle is attached to (default: "baseCAN").

Member Function Documentation

CANcoderMagnetHealthGetter()

frc::Color8Bit valor::sensors::CANdleSensor::CANcoderMagnetHealthGetter ( ctre::phoenix6::hardware::CANcoder * cancoder )

static

Get the health status of a CANcoder magnet.

Parameters

cancoder

Pointer to the CANcoder device.

Returns

frc::Color8Bit Color representing the health status.

ClearAnimation()

void valor::sensors::CANdleSensor::ClearAnimation

(

int

segment

)

Clears any active animation for a specific segment.

Also responsible for clearing the appropriate memory associated with the animation.

Parameters

segment

The segment that will be cleared.

Reset()

void valor::sensors::CANdleSensor::Reset ( )

overridevirtual

Resets the CANdle device.

Reimplemented from valor::sensors::BaseSensor< int >.

SetAnimation() [1/2]

template<typename T>

void valor::sensors::CANdleSensor::SetAnimation ( frc::Color8Bit color, Priority priority = Priority::LOW )

inline

Set an animation for all segments.

Template Parameters

T	Animation type.

Parameters

color	Color for the animation.
priority	Priority for the animation.

SetAnimation() [2/2]

template<typename T>

void valor::sensors::CANdleSensor::SetAnimation ( int segment, frc::Color8Bit color, Priority priority = Priority::LOW )

inline

Set an animation for a specific segment.

Template Parameters

T	Animation type.

Parameters

segment	Segment index to modify.
color	Color for the animation.
priority	Priority for the animation.

SetColor() [1/2]

void valor::sensors::CANdleSensor::SetColor	(	frc::Color8Bit	color,
		Priority	priority = Priority::LOW )

Set the color for all segments.

Parameters

color	RGB hex code to set.
priority	Priority level for the color setting.

SetColor() [2/2]

void valor::sensors::CANdleSensor::SetColor	(	int	segment,
		frc::Color8Bit	color,
		Priority	priority = Priority::LOW )

Set the color of a specific segment.

Parameters

segment	Segment index to modify.
color	Color to set.
priority	Priority for the color setting.

SetLED()

void valor::sensors::CANdleSensor::SetLED	(	int	led,
		frc::Color8Bit	color )

Set the color of a specific LED.

Parameters

led	Index of the LED to set.
color	Color to set.

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/sensors/CANdleSensor.h