> For the complete documentation index, see [llms.txt](https://docs.andymark.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.andymark.com/frc-electronics/can-sensors.md).

# CAN Sensors

AndyMark CAN Sensors provide compact, locking-connector options for distance, position, color, proximity, and noncontact state detection on FRC robots. Each product page includes specifications, installation guidance, examples, and API resources.

## Products

| Device                                                                                                                    | Primary measurement                                                             |
| ------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
| [CAN Lidar (am-5684)](/frc-electronics/can-sensors/can-lidar-am-5684.md)                                                  | Time-of-Flight distance, measurement status, signal strength, and ambient light |
| [CAN Magnetic Switch (am-5788)](/frc-electronics/can-sensors/can-magnetic-switch-am-5746.md)                              | Noncontact magnet detection                                                     |
| [CAN Hex Bore Absolute Encoder (am-5200\_can)](/frc-electronics/can-sensors/can-hex-bore-absolute-encoder-am-5200_can.md) | Absolute shaft position, plus velocity over CAN                                 |
| [CAN Color Sensor (am-5683)](/frc-electronics/can-sensors/can-color-sensor-am-5683.md)                                    | RGB/clear color data and proximity                                              |

## Common bring-up workflow

1. Disconnect robot power before wiring or mounting a sensor.
2. Confirm the power, CAN High, and CAN Low connections against the wiring diagram on the device’s Specifications page.
3. Verify that the CAN bus is terminated correctly and that CAN High and CAN Low are not reversed.
4. Install the [AndyMark WPILib vendor library](/frc-electronics/wpilib-am-vendor-library-setup.md).
5. If multiple new AndyMark CAN devices use CAN ID 0, connect and configure them one at a time so each receives a unique ID before they share the bus.
6. For roboRIO/WPILib 2026 or earlier, use the [AndyMark CAN Interface Utility](/frc-electronics/can-device-configuration/andymark-can-interface-utility.md). For SystemCore and the 2027 season or later, use the [AndyMark IPK for SystemCore](/frc-electronics/can-device-configuration/andymark-ipk-for-systemcore.md).
7. Confirm that the device is discovered before troubleshooting application code.

## Installation practices

* Mount each sensor rigidly and protect it from impacts, water, conductive debris, and metal chips.
* Keep CAN wiring as a continuous bus rather than creating long unterminated branches.
* Route and support cables with appropriate strain relief so vibration, impacts, or service work cannot load the connector or pull conductors loose.
* Record each device name, CAN ID, location, and firmware version.
* Validate readings on the actual robot, using the real target materials, lighting, motion, and electrical environment.

{% hint style="warning" %}
A device appearing in software does not by itself prove that its measurements are valid. Check device status, wiring, mounting, configuration, and live sensor data before using a reading for closed-loop control.
{% endhint %}