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 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
}

Python

faulted = self.cancoder.get_fault_bad_magnet().value

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.

Using API to Clear Sticky Faults

Sticky faults can be cleared in API using the clearStickyFaults() method on the device objects. Additionally, individual sticky faults may be cleared using the clearStickyFault_*() APIs.

Note

Clearing sticky faults is a blocking operation and should not be run in a periodic loop.

Java

// clear the undervoltage sticky fault
m_cancoder.clearStickyFault_Undervoltage();

C++

// clear the undervoltage sticky fault
m_cancoder.ClearStickyFault_Undervoltage();

Python

# clear the undervoltage sticky fault
self.cancoder.clear_sticky_fault_undervoltage()