Device Faults

“Faults” are status indicators on CTR Electronics CAN devices that indicate a certain behavior or event has occurred. Faults do not directly affect the behavior of a device; instead, they indicate the device’s current status and highlight potential issues.

Faults are stored in two fashions. There are “live” faults, which are reported in real-time, and “sticky” faults, which assert persistently and stay asserted until they are manually cleared (like trouble codes in a vehicle).

Sticky Faults can be cleared by clicking the Blink/Clear Faults button in Phoenix Tuner X, or by calling clearStickyFaults() on the device in the robot program. A regular fault can only be cleared when the offending problem has been resolved.

Using API to Retrieve Faults

Faults can also be retrieved in API using the getFault_*() (regular) or getStickyFault_*() (sticky) methods on the device object. This can be useful for diagnostics or error handling.

Java

var faulted = m_cancoder.getFault_BadMagnet().getValue();

if (faulted) {
   // do action when bad magnet fault is set
}

C++

auto faulted = m_cancoder.GetFault_BadMagnet().GetValue();

if (faulted) {
   // do action when bad magnet fault is set
}

A list of possible faults can be found in the API documentation for each device.