CSA/FTA(A)/Team Reference

Robot Radio Lights

Robot Radio, No Link to Field AP
PWR		Green
SYS		Green Blink
2.4G		Off
6G		Off
Rio		Green

Robot Radio, No Link to Field AP, Programmed using WPA Kiosk
PWR		Green
SYS		Green, Blink/Blink/Pause (.._.._) pattern
2.4G		Off
6G		Off
Rio		Green

Robot Radio, Linked to Field AP
PWR		Green
SYS		Green
2.4G		Off
6G		Blue
Rio		Green

RoboRIO Lights

Radio
	Ignore

SystemCore Lights

Status
	Uncleared hardware fault;	Red
	Brownout protection enabled*
	Display hardware fault	Red Slow Blink
	CAN Bus Fault	Red Fast Blink
	No faults	Off
*Brownout protection is disabled in Alpha Image 157. Brownout protection will disable PWM and digital outputs.

REV Motor Controller Lights

Identification, Updating, and Recovery
	Identify	Magenta / White Fast Alternating (4 Hz)
	CAN Firmware Updating	Yellow / White Slow Alternating
	CAN Firmware Retry	Blue / White Slow Alternating
	USB Device Firmware Update	Off
	Recovery Mode	Off

Fault Conditions
	12V Missing	Blue / Orange Slow Alternating
	Sensor Fault	Magenta / Orange Slow Alternating
	Gate Driver Fault	Cyan / Orange Slow Alternating
	CAN Fault	Yellow / Orange Slow Alternating
	Corrupt Firmware	Off

CTRE Motor Controller Lights

Disabled Codes
	No Power	Off
	CAN bus/PWM is not detected	Red Alternating
	CAN bus detected, Phoenix not running on robot	Orange Alternating
	CAN bus detected, robot disabled	Orange Simultaneous Blink

Enabled Codes
	Enabled, no output	Orange
	Reverse Movement	Red Simultaneous Blink
	Forward Movement	Green Simultaneous Blink
	Limit hit. Direction of blink indicates forward/reverse.	Red Alternating Blink Followed by Off

Special Codes
	Thermal Shutoff	Orange Alternating Blink Followed by Off
	Unlicensed Phoenix Pro	Red / Green Alternating Blink
	Hardware Damage	Red / Orange Alternating Blink
	Bootloader	Red / Orange Alternating Blink, Right Side Only

CTRE CANivore Lights

STAT
	No Power	Off
	Powered but USB not plugged in	Red Double Blink
	USB plugged in but no comms	Red Fast Strobe
	CAN disabled, no power	Orange Double Blink
	CAN disabled	Orange Fast Strobe
	CAN enabled, no power	Green Double Blink
	CAN enabled	Green Fast Strobe
	Hardware Damage	Red / Orange Fast Alternating
	Bootloader	Green / Orange Fast Alternating

CAN (double blink = termination disabled)
	Voltage too low for CAN bus	Red
	No CAN comms	Red Fast Strobe
	CAN 2.0b legacy mode	Orange Fast Strobe
	CAN FD Active	Green Fast Strobe

CTRE CANcoder Lights

(dim = no CAN)
	No Power	Off
	CAN bus lost	Red Blink
	Magnet is out of range (<25mT or >135mT)	Red Fast Strobe
	Magnet in range with slightly reduced accuracy (25-45mT or 75-135mT)	Orange Fast Strobe
	Magnet in range (between 45mT-75mT)	Green Fast Strobe
	Hardware Damage	Red / Orange Alternating
	Bootloader	Green / Orange Alternating

CTRE Pigeon Lights

		No Power	Off
		No CAN bus detected	Red Alternating
		CAN bus detected, Phoenix not running on robot	Orange Alternating
		CAN bus detected. Robot disabled.	Orange Simultaneous Blink
		CAN bus detected. Robot enabled.	Green Alternating
		Hardware Damage	Red / Orange Alternating
		Bootloader	Red / Orange Alternating Blink, Right Side Only

Thrifty Nova Lights

		Fatal fault	Red Fast Alternating
		Encoder not connected or invalid	Orange Simultaneous Blink (10 Hz)
		Enabled but output power is 0%	Yellow Fast Alternating
		No CAN data detected	Yellow Fast Simultaneous Blink
		CAN detected but no control frames	Yellow
		Forward motion. Flash rate = speed	Green Simultaneous Blink
		Reverse motion. Flash rate = speed	Red Simultaneous Blink
		Motor halted. High temperature >90°C	Orange Fast Simultaneous Blink
		Warning. Approaching thermal limit >75°C	Orange Fast Simultaneous Blink (20 Hz)

Redux CANANDMAG Encoder Lights

	Magnet is in range	Green
	Magnet is not in range (typically too far)	Red
	Firmware update in progress	Cyan Blink
	CAN ID conflict detected	Blue Blink
	Hardware fault	Red Blink
	Encoder zero button pressed	White
	Dim Undervoltage	Dim Blue

Redux CANANDGYRO IMU Lights

	Normal operation, roboRIO detected on CAN bus	Green Slow Blink
	roboRIO not detected or other CANbus faults	Red Slow Blink
	Calibrating, operational with reduced accuracy	Yellow
	DFU in progress	Blue Blink
	DFU failed, check Alchemist	Blue
	Hardware fault	Yellow / Red Alternating
	CAN ID conflict detected	Blue / Red Alternating

Grapple MitoCANdria Lights

	In bootloader	Red
	Bootloader initialized	Red / Yellow Alternating
	Detecting CAN bitrate	Red / Purple Alternating
	Firmware ready, CAN initialized	Green
	Firmware ready, CAN awaiting bitrate detection (CAN bus disconnected)	Green / Purple Alternating

Grapple LaserCAN Lights

S (Status)
	Normal operation. Will flash at speed proportional to the distance it's reading.	Orange Blink
	In bootloader, awaiting firmware update	Orange

FRC Basic Wiring Diagram