CANdle®
=======

The CTR Electronics' CANdle® branded device makes it easy to control individually addressable LEDs over CAN. Combined with being a 5V high-efficiency DC voltage regulator, the CANdle® is a versatile addition to any robot.

.. grid:: 2

   .. grid-item-card:: Store Page
      :link: https://store.ctr-electronics.com/products/candle
      :link-type: url

      CAD and purchase instructions.

Status Light Reference
----------------------

.. important:: If the status lights do not exactly match any of the blink codes below, the device may be alternating between multiple blink codes (most commonly between good and bad CAN).

.. raw:: html

    <style>
        .led {
            float: left;
            height: 20px;
            width: 20px;
            border: 1px solid black;
            border-radius: 10px;
            margin: 5px;
            background-color: darkgray;
        }
        .ledGroup {
            display: inline-block;
            height: 20px;
        }
        table.center, table.center th, table.center td {
            border: 1px solid white;
            border-collapse: collapse;
            padding: 5px;
            text-align: center;
        }

        .tableOverflow {
            overflow: scroll;
        }

        td.overflow {
            max-width: 550px;
            overflow: scroll;
        }

        @media screen and (max-width: 480px) {
            td.overflow {
                max-width: 0;
                overflow: scroll;
            }

            .tableOverflow {
                max-width: 480px;
            }
        }
    </style>

    <div class="tableOverflow">
        <table class="center">
            <tr>
                <th colspan="4">Blink Codes</th>
            </tr>
            <tr>
                <th>Animation (Click to play)</th>
                <th>LED State</th>
                <th>Cause</th>
                <th>Possible Fix</th>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='0' offtime='0' oncolor='black' offcolor='black'></div></div></td>
                <td>LEDs Off</td>
                <td>No power, or the StatusLedWhenActive config is set to Disabled.</td>
                <td>If you cannot communicate with the CANdle® and all LEDs are off, validate 12V on the Red/Black (+Vin/-Vin) leads.</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='300' offtime='300' oncolor='red' offcolor='black'></div></div></td>
                <td>Blinking Red</td>
                <td>CANdle® does not have valid CAN or Pixel pulse train [1].</td>
                <td>Ensure good connections between CANH and CANL (Yellow and Green) and the CAN bus or Pixel pulse train [1], and robot controller is on.</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='300' offtime='300' oncolor='orange' offcolor='black'></div></div></td>
                <td>Blinking Orange</td>
                <td>CANdle® has a good CAN or Pixel pulse train [1] connection but is not being controlled.</td>
                <td>If the robot program is trying to control the CANdle®, ensure good connection between the controller and this device.</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='300' offtime='300' oncolor='green' offcolor='black'></div></div></td>
                <td>Blinking Green</td>
                <td colspan="2">CANdle® has a good CAN or Pixel pulse train [1] connection and is being actively controlled.</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='200' offtime='50' oncolor='red' offcolor='black'></div></div></td>
                <td>Rapid Red</td>
                <td>5V too high fault.</td>
                <td>Check for a short between +Vout and 5V out.</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='50' offtime='200' oncolor='red' offcolor='black'></div></div></td>
                <td>Blip Red</td>
                <td>Short circuit or software fuse fault.</td>
                <td>Use Tuner X to determine which fault is active. Check for shorts across the output leads, and reduce the current load on the CANdle® (max 6 A).</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='50' offtime='200' oncolor='orange' offcolor='black'></div></div></td>
                <td>Blip Orange</td>
                <td>Thermal fault.</td>
                <td>Allow CANdle® to cool. Consider disabling the onboard LEDs or reducing the current load on the CANdle®.</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='300' offtime='300' oncolor='red' offcolor='orange'></div></div></td>
                <td>Alternate Red/Orange</td>
                <td>Damaged Hardware.</td>
                <td>Use Tuner X Self Test to confirm the LEDs and that the hardware fault is set, then contact CTRE</td>
            </tr>
            <tr>
                <td><div class='ledGroup'><div class='led' ontime='300' offtime='300' oncolor='orange' offcolor='green'></div></div></td>
                <td>Alternate Orange/Green</td>
                <td>CANdle® in bootloader.</td>
                <td>Field-upgrade device in Tuner X.</td>
            </tr>
        </table>
    </div>

.. raw:: html

    <script>
        var ledGrpElems = document.getElementsByClassName('ledGroup');
        var ledGrps = [];
        for(var i = 0; i < ledGrpElems.length; i++) {
            ledGrps[i] = {
                "consts": [
                    {
                        'ontime': ledGrpElems[i].children[0].getAttribute('ontime'),
                        'offtime': ledGrpElems[i].children[0].getAttribute('offtime'),
                        'oncolor': ledGrpElems[i].children[0].getAttribute('oncolor'),
                        'offcolor': ledGrpElems[i].children[0].getAttribute('offcolor')
                    }
                ],
                "vars": [
                    {
                        'time': 0,
                        'state': false,
                    }
                ]
            };
            ledGrpElems[i].setAttribute('blink', 'false');
            ledGrpElems[i].onclick = function(){
                var turningOn = !(this.getAttribute('blink') === 'true');
                this.setAttribute('blink', turningOn);
                for (var c of this.children) {
                    if (turningOn) {
                        c.style.background = c.getAttribute('oncolor');
                    } else {
                        c.style.background = 'darkgray';
                    }
                }
            };
        }

        setInterval(function() {
            for(var i = 0; i < ledGrpElems.length; i++) {
                if (ledGrpElems[i].getAttribute('blink') === 'true') {
                    for(var j = 0; j < ledGrpElems[i].children.length; j++) {
                        var time = ledGrps[i]['vars'][j]['time'];
                        ledGrps[i]['vars'][j]['time'] = time + 10;
                        if (ledGrps[i]['vars'][j]['state']) {
                            if (time > ledGrps[i]['consts'][j]['offtime']) {
                                ledGrpElems[i].children[j].style.background = ledGrps[i]['consts'][j]['oncolor'];
                                ledGrps[i]['vars'][j]['state'] = false;
                                ledGrps[i]['vars'][j]['time'] = 0;
                            }
                        } else {
                            if (time > ledGrps[i]['consts'][j]['ontime']) {
                                ledGrpElems[i].children[j].style.background = ledGrps[i]['consts'][j]['offcolor'];
                                ledGrps[i]['vars'][j]['state'] = true;
                                ledGrps[i]['vars'][j]['time'] = 0;
                            }
                        }
                    }
                }
            }
        }, 10);
    </script>

[1] CANdle can be directly controlled using a WS2812B-compliant pulse train from other devices, such as an Arduino. See the `User's Guide <https://ctre.download/files/user-manual/CANdle%20User's%20Guide.pdf>`__ for more information.