Class CANBuses

java.lang.Object

swervelib.core.parser.CANBuses

public final class CANBuses
extends Object

Turns the canbus of a device in the JSON configuration into a CAN bus, the same way for every vendor.

• Empty: the Systemcore CAN bus can_s0.
• A bus number: "0" to "4" are the Systemcore CAN buses can_s0 to can_s4, so "1" is can_s1. "5" to "24" are the Motioncore CAN buses can_d0 to can_d19, following CANPort.
• Anything else is a vendor specific CAN bus, such as the name of a CANivore for CTRE devices. Vendors that only use the Systemcore and Motioncore CAN buses reject it.

Field Summary

Fields

Modifier and Type	Field	Description
static final org.wpilib.hardware.bus.CANPort	DEFAULT	CAN bus used when a device leaves canbus empty.

Method Summary

Modifier and Type	Method	Description
static Optional<org.wpilib.hardware.bus.CANPort>	getCANPort(String canbus)	Get the CANPort for the canbus of a device.
static org.wpilib.hardware.bus.CANPort	requireCANPort(String canbus, String vendor)	Get the CANPort for the canbus of a device from a vendor that only uses the Systemcore and Motioncore CAN buses.

Methods inherited from class Object

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

Field Details

DEFAULT

public static final org.wpilib.hardware.bus.CANPort DEFAULT

CAN bus used when a device leaves canbus empty.

Method Details

getCANPort

public static Optional<org.wpilib.hardware.bus.CANPort> getCANPort(String canbus)

Get the CANPort for the canbus of a device.

Parameters:

canbus - canbus from the JSON configuration.

Returns:

The CANPort, or empty when canbus names a vendor specific CAN bus.

Throws:

IllegalArgumentException - if canbus is a bus number that is not a CANPort.

requireCANPort

public static org.wpilib.hardware.bus.CANPort requireCANPort(String canbus,
 String vendor)

Get the CANPort for the canbus of a device from a vendor that only uses the Systemcore and Motioncore CAN buses.

Parameters:

canbus - canbus from the JSON configuration.

vendor - Vendor name, for the error message.

Returns:

The CANPort.

Throws:

IllegalArgumentException - if canbus is not a Systemcore or Motioncore CAN bus number.