Status codes

Nothing in this library throws for a device or bus condition. A device on a CAN bus can legitimately disappear mid-match — a connector vibrates loose, a bus browns out, someone in the pit unplugs the wrong thing. Robot code that dies with an exception in that situation is worse than robot code that keeps driving on its last good pose and reports a fault.

Programming errors still throw. Passing device number 63, which is reserved, is a bug in your code rather than a field condition, and it throws immediately so you find it at your desk.

Reading a status

var status = imu.getConfigurator().apply(config);
if (status.isError()) {
    DriverStation.reportError(status.description(), false);
}

description() is written to be shown to a human verbatim. It names the remedy, not just the symptom:

DEVICE_NOT_PRESENT — No ROTEM device answered at this device number. Verify the device is powered (the SYS LED is lit), that the CAN wiring is intact, and that the bus is terminated at both ends — measure about 60 ohms across CANH and CANL with the robot off. 120 ohms means one termination is missing.

Codes you are most likely to meet

Code	What it means
OK	Call succeeded
DEVICE_NOT_PRESENT	Nothing answered — power, wiring or termination
SIGNAL_STALE	Frames arrived once but stopped being fresh
DEVICE_ID_CONFLICT	Two devices share a device number
BUS_OFF	Controller went bus-off; recovery is automatic
INVALID_PARAMETER	A configuration value was out of range; nothing was applied
CONFIG_TIMEOUT	No acknowledgement; the previous configuration still stands
FREQUENT_CONFIG_CALLS	You are configuring in a loop — see Configuration
CALIBRATION_INVALID	No valid factory calibration on this unit
ESTIMATOR_NOT_CONVERGED	Still converging; leave the robot still for a moment
ESTIMATOR_FAULT	Numerical fault; heading is not trustworthy until it reconverges

A failed read produces a signal carrying the status and a documented fallback value, never a null. Code that ignores the status gets a predictable number instead of a crash; code that checks it gets something worth printing.