MotController_CCI.h File Reference

#include "ctre/phoenix/cci/CCI.h"
#include "ctre/phoenix/ErrorCode.h"
#include "ctre/phoenix/motorcontrol/ControlMode.h"
#include "ctre/phoenix/motorcontrol/MotorCommutation.h"
#include "ctre/phoenix/motorcontrol/SupplyCurrentLimitConfiguration.h"
#include "ctre/phoenix/motorcontrol/StatorCurrentLimitConfiguration.h"
#include "ctre/phoenix/sensors/AbsoluteSensorRange.h"
#include "ctre/phoenix/sensors/SensorInitializationStrategy.h"
#include <cstddef>

Go to the source code of this file.

Functions
CCIEXPORT void *	c_MotController_Create1 (int baseArbId)
CCIEXPORT void *	c_MotController_Create2 (int deviceID, const char *model, const char *canbus)
CCIEXPORT void	c_MotController_DestroyAll ()
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Destroy (void *handle)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetAppliedControlMode (void *handle, int &controlMode)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetDeviceNumber (void *handle, int *deviceNumber)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetDescription (void *handle, char *toFill, int toFillByteSz, size_t *numBytesFilled)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetBaseID (void *handle, int *baseArbId)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetDemand (void *handle, int mode, int demand0, int demand1)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Set_4 (void *handle, int mode, double demand0, double demand1, int demand1Type)
CCIEXPORT void	c_MotController_SetNeutralMode (void *handle, int neutralMode)
CCIEXPORT void	c_MotController_SetSensorPhase (void *handle, bool PhaseSensor)
CCIEXPORT void	c_MotController_SetInverted (void *handle, bool invert)
CCIEXPORT void	c_MotController_SetInverted_2 (void *handle, int invertType)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigFactoryDefault (void *handle, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigOpenLoopRamp (void *handle, double secondsFromNeutralToFull, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigClosedLoopRamp (void *handle, double secondsFromNeutralToFull, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigPeakOutputForward (void *handle, double percentOut, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigPeakOutputReverse (void *handle, double percentOut, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigNominalOutputForward (void *handle, double percentOut, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigNominalOutputReverse (void *handle, double percentOut, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigNeutralDeadband (void *handle, double percentDeadband, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigVoltageCompSaturation (void *handle, double voltage, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigVoltageMeasurementFilter (void *handle, int filterWindowSamples, int timeoutMs)
CCIEXPORT void	c_MotController_EnableVoltageCompensation (void *handle, bool enable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetInverted (void *handle, bool *invert)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetBusVoltage (void *handle, double *voltage)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetMotorOutputPercent (void *handle, double *percentOutput)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetOutputCurrent (void *handle, double *current)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetSupplyCurrent (void *handle, double *current)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetStatorCurrent (void *handle, double *current)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetTemperature (void *handle, double *temperature)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSelectedFeedbackSensor (void *handle, int feedbackDevice, int pidIdx, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSelectedFeedbackCoefficient (void *handle, double coefficient, int pidIdx, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigRemoteFeedbackFilter (void *handle, int deviceID, int remoteSensorSource, int remoteOrdinal, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSensorTerm (void *handle, int sensorTerm, int feedbackDevice, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetSelectedSensorPosition (void *handle, int *param, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetSelectedSensorVelocity (void *handle, int *param, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetSelectedSensorPosition (void *handle, int sensorPos, int pidIdx, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetControlFramePeriod (void *handle, int frame, int periodMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetStatusFramePeriod (void *handle, int frame, uint8_t periodMs, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetStatusFramePeriod (void *handle, int frame, int *periodMs, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigVelocityMeasurementPeriod (void *handle, int period, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigVelocityMeasurementWindow (void *handle, int windowSize, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigForwardLimitSwitchSource (void *handle, int type, int normalOpenOrClose, int deviceID, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigReverseLimitSwitchSource (void *handle, int type, int normalOpenOrClose, int deviceID, int timeoutMs)
CCIEXPORT void	c_MotController_OverrideLimitSwitchesEnable (void *handle, bool enable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigForwardSoftLimitThreshold (void *handle, int forwardSensorLimit, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigReverseSoftLimitThreshold (void *handle, int reverseSensorLimit, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigForwardSoftLimitEnable (void *handle, bool enable, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigReverseSoftLimitEnable (void *handle, bool enable, int timeoutMs)
CCIEXPORT void	c_MotController_OverrideSoftLimitsEnable (void *handle, bool enable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Config_kP (void *handle, int slotIdx, double value, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Config_kI (void *handle, int slotIdx, double value, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Config_kD (void *handle, int slotIdx, double value, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Config_kF (void *handle, int slotIdx, double value, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_Config_IntegralZone (void *handle, int slotIdx, double izone, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigAllowableClosedloopError (void *handle, int slotIdx, int allowableClosedLoopError, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMaxIntegralAccumulator (void *handle, int slotIdx, double iaccum, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigClosedLoopPeakOutput (void *handle, int slotIdx, double percentOut, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigClosedLoopPeriod (void *handle, int slotIdx, int loopTimeMs, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetIntegralAccumulator (void *handle, double iaccum, int pidIdx, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetClosedLoopError (void *handle, int *closedLoopError, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetIntegralAccumulator (void *handle, double *iaccum, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetErrorDerivative (void *handle, double *derror, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SelectProfileSlot (void *handle, int slotIdx, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryPosition (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryVelocity (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryHeading (void *handle, double *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryPosition_3 (void *handle, int *param, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryVelocity_3 (void *handle, int *param, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryArbFeedFwd_3 (void *handle, double *param, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryAll (void *handle, int *vel, int *pos, double *heading)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetActiveTrajectoryAll_5 (void *handle, int *vel, int *pos, double *arbFeedFwd, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMotionCruiseVelocity (void *handle, int sensorUnitsPer100ms, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMotionAcceleration (void *handle, int sensorUnitsPer100msPerSec, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMotionSCurveStrength (void *handle, int curveStrength, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ClearMotionProfileTrajectories (void *handle)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetMotionProfileTopLevelBufferCount (void *handle, int *value)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_PushMotionProfileTrajectory (void *handle, double position, double velocity, double headingDeg, int profileSlotSelect, bool isLastPoint, bool zeroPos)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_PushMotionProfileTrajectory_2 (void *handle, double position, double velocity, double headingDeg, int profileSlotSelect0, int profileSlotSelect1, bool isLastPoint, bool zeroPos, int durationMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_PushMotionProfileTrajectory_3 (void *handle, double position, double velocity, double arbFeedFwd, double auxiliaryPos, double auxiliaryVel, double auxiliaryArbFeedFwd, uint32_t profileSlotSelect0, uint32_t profileSlotSelect1, bool isLastPoint, bool zeroPos0, uint32_t timeDur, bool useAuxPID)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_StartMotionProfile (void *handle, void *streamHandle, uint32_t minBufferedPts, ctre::phoenix::motorcontrol::ControlMode controlMode)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_IsMotionProfileFinished (void *handle, bool *value)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_IsMotionProfileTopLevelBufferFull (void *handle, bool *value)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ProcessMotionProfileBuffer (void *handle)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetMotionProfileStatus (void *handle, size_t *topBufferRem, size_t *topBufferCnt, int *btmBufferCnt, bool *hasUnderrun, bool *isUnderrun, bool *activePointValid, bool *isLast, int *profileSlotSelect, int *outputEnable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetMotionProfileStatus_2 (void *handle, size_t *topBufferRem, size_t *topBufferCnt, int *btmBufferCnt, bool *hasUnderrun, bool *isUnderrun, bool *activePointValid, bool *isLast, int *profileSlotSelect, int *outputEnable, int *timeDurMs, int *profileSlotSelect1)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ClearMotionProfileHasUnderrun (void *handle, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ChangeMotionControlFramePeriod (void *handle, int periodMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMotionProfileTrajectoryPeriod (void *handle, int durationMs, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMotionProfileTrajectoryInterpolationEnable (void *handle, bool enable, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigFeedbackNotContinuous (void *handle, bool feedbackNotContinuous, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigRemoteSensorClosedLoopDisableNeutralOnLOS (void *handle, bool remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigClearPositionOnLimitF (void *handle, bool clearPositionOnLimitF, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigClearPositionOnLimitR (void *handle, bool clearPositionOnLimitR, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigClearPositionOnQuadIdx (void *handle, bool clearPositionOnQuadIdx, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigLimitSwitchDisableNeutralOnLOS (void *handle, bool limitSwitchDisableNeutralOnLOS, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSoftLimitDisableNeutralOnLOS (void *handle, bool softLimitDisableNeutralOnLOS, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigPulseWidthPeriod_EdgesPerRot (void *handle, int pulseWidthPeriod_EdgesPerRot, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigPulseWidthPeriod_FilterWindowSz (void *handle, int pulseWidthPeriod_FilterWindowSz, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetLastError (void *handle)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetFirmwareVersion (void *handle, int *)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_HasResetOccurred (void *handle, bool *)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSetCustomParam (void *handle, int newValue, int paramIndex, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigGetCustomParam (void *handle, int *readValue, int paramIndex, int timoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSetParameter (void *handle, int param, double value, uint8_t subValue, int ordinal, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigGetParameter (void *handle, int param, double *value, int ordinal, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigGetParameter_6 (void *handle, int32_t param, int32_t valueToSend, int32_t *valueRecieved, uint8_t *subValue, int32_t ordinal, int32_t timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigPeakCurrentLimit (void *handle, int amps, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigPeakCurrentDuration (void *handle, int milliseconds, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigContinuousCurrentLimit (void *handle, int amps, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_EnableCurrentLimit (void *handle, bool enable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetLastError (void *handle, int error)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetAnalogIn (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetAnalogPosition (void *handle, int newPosition, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetAnalogInRaw (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetAnalogInVel (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetQuadraturePosition (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetQuadraturePosition (void *handle, int newPosition, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetQuadratureVelocity (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPulseWidthPosition (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetPulseWidthPosition (void *handle, int newPosition, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPulseWidthVelocity (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPulseWidthRiseToFallUs (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPulseWidthRiseToRiseUs (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPinStateQuadA (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPinStateQuadB (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPinStateQuadIdx (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_IsFwdLimitSwitchClosed (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_IsRevLimitSwitchClosed (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetFaults (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetStickyFaults (void *handle, int *param)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ClearStickyFaults (void *handle, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SelectDemandType (void *handle, bool enable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetMPEOutput (void *handle, int MpeOutput)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_EnableHeadingHold (void *handle, bool enable)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetAnalogInAll (void *handle, int *withOv, int *raw, int *vel)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetQuadratureSensor (void *handle, int *pos, int *vel)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetPulseWidthAll (void *handle, int *pos, int *vel, int *riseToRiseUs, int *riseToFallUs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetQuadPinStates (void *handle, int *quadA, int *quadB, int *quadIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetLimitSwitchState (void *handle, int *isFwdClosed, int *isRevClosed)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetClosedLoopTarget (void *handle, int *value, int pidIdx)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigMotorCommutation (void *handle, ctre::phoenix::motorcontrol::MotorCommutation motorCommutation, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigGetMotorCommutation (void *handle, ctre::phoenix::motorcontrol::MotorCommutation *motorCommutation, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSupplyCurrentLimit (void *handle, const double *params, int paramCnt, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigStatorCurrentLimit (void *handle, const double *params, int paramCnt, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigSupplyCurrentLimitEnable (void *handle, bool enable, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigStatorCurrentLimitEnable (void *handle, bool enable, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigGetSupplyCurrentLimit (void *handle, double *toFill, int *fillCnt, int fillCapacity, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigGetStatorCurrentLimit (void *handle, double *toFill, int *fillCnt, int fillCapacity, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetIntegratedSensorPosition (void *handle, double newpos, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_SetIntegratedSensorPositionToAbsolute (void *handle, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_GetIntegratedSensor (void *handle, double *pos, double *absPos, double *vel)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigIntegratedSensorAbsoluteRange (void *handle, ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigIntegratedSensorOffset (void *handle, double offsetDegrees, int timeoutMs)
CCIEXPORT ctre::phoenix::ErrorCode	c_MotController_ConfigIntegratedSensorInitializationStrategy (void *handle, ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy, int timeoutMs)

Function Documentation

c_MotController_ChangeMotionControlFramePeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ChangeMotionControlFramePeriod	(	void *	handle,
		int	periodMs
	)

c_MotController_ClearMotionProfileHasUnderrun()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ClearMotionProfileHasUnderrun	(	void *	handle,
		int	timeoutMs
	)

c_MotController_ClearMotionProfileTrajectories()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ClearMotionProfileTrajectories

(

void *

handle

)

c_MotController_ClearStickyFaults()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ClearStickyFaults	(	void *	handle,
		int	timeoutMs
	)

c_MotController_Config_IntegralZone()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Config_IntegralZone	(	void *	handle,
		int	slotIdx,
		double	izone,
		int	timeoutMs
	)

c_MotController_Config_kD()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Config_kD	(	void *	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

c_MotController_Config_kF()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Config_kF	(	void *	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

c_MotController_Config_kI()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Config_kI	(	void *	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

c_MotController_Config_kP()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Config_kP	(	void *	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

c_MotController_ConfigAllowableClosedloopError()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigAllowableClosedloopError	(	void *	handle,
		int	slotIdx,
		int	allowableClosedLoopError,
		int	timeoutMs
	)

c_MotController_ConfigClearPositionOnLimitF()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigClearPositionOnLimitF	(	void *	handle,
		bool	clearPositionOnLimitF,
		int	timeoutMs
	)

c_MotController_ConfigClearPositionOnLimitR()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigClearPositionOnLimitR	(	void *	handle,
		bool	clearPositionOnLimitR,
		int	timeoutMs
	)

c_MotController_ConfigClearPositionOnQuadIdx()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigClearPositionOnQuadIdx	(	void *	handle,
		bool	clearPositionOnQuadIdx,
		int	timeoutMs
	)

c_MotController_ConfigClosedLoopPeakOutput()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigClosedLoopPeakOutput	(	void *	handle,
		int	slotIdx,
		double	percentOut,
		int	timeoutMs
	)

c_MotController_ConfigClosedLoopPeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigClosedLoopPeriod	(	void *	handle,
		int	slotIdx,
		int	loopTimeMs,
		int	timeoutMs
	)

c_MotController_ConfigClosedLoopRamp()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigClosedLoopRamp	(	void *	handle,
		double	secondsFromNeutralToFull,
		int	timeoutMs
	)

c_MotController_ConfigContinuousCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigContinuousCurrentLimit	(	void *	handle,
		int	amps,
		int	timeoutMs
	)

c_MotController_ConfigFactoryDefault()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigFactoryDefault	(	void *	handle,
		int	timeoutMs
	)

c_MotController_ConfigFeedbackNotContinuous()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigFeedbackNotContinuous	(	void *	handle,
		bool	feedbackNotContinuous,
		int	timeoutMs
	)

c_MotController_ConfigForwardLimitSwitchSource()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigForwardLimitSwitchSource	(	void *	handle,
		int	type,
		int	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs
	)

c_MotController_ConfigForwardSoftLimitEnable()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigForwardSoftLimitEnable	(	void *	handle,
		bool	enable,
		int	timeoutMs
	)

c_MotController_ConfigForwardSoftLimitThreshold()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigForwardSoftLimitThreshold	(	void *	handle,
		int	forwardSensorLimit,
		int	timeoutMs
	)

c_MotController_ConfigGetCustomParam()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigGetCustomParam	(	void *	handle,
		int *	readValue,
		int	paramIndex,
		int	timoutMs
	)

c_MotController_ConfigGetMotorCommutation()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigGetMotorCommutation	(	void *	handle,
		ctre::phoenix::motorcontrol::MotorCommutation *	motorCommutation,
		int	timeoutMs
	)

c_MotController_ConfigGetParameter()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigGetParameter	(	void *	handle,
		int	param,
		double *	value,
		int	ordinal,
		int	timeoutMs
	)

c_MotController_ConfigGetParameter_6()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigGetParameter_6	(	void *	handle,
		int32_t	param,
		int32_t	valueToSend,
		int32_t *	valueRecieved,
		uint8_t *	subValue,
		int32_t	ordinal,
		int32_t	timeoutMs
	)

c_MotController_ConfigGetStatorCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigGetStatorCurrentLimit	(	void *	handle,
		double *	toFill,
		int *	fillCnt,
		int	fillCapacity,
		int	timeoutMs
	)

c_MotController_ConfigGetSupplyCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigGetSupplyCurrentLimit	(	void *	handle,
		double *	toFill,
		int *	fillCnt,
		int	fillCapacity,
		int	timeoutMs
	)

c_MotController_ConfigIntegratedSensorAbsoluteRange()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigIntegratedSensorAbsoluteRange	(	void *	handle,
		ctre::phoenix::sensors::AbsoluteSensorRange	absoluteSensorRange,
		int	timeoutMs
	)

c_MotController_ConfigIntegratedSensorInitializationStrategy()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigIntegratedSensorInitializationStrategy	(	void *	handle,
		ctre::phoenix::sensors::SensorInitializationStrategy	initializationStrategy,
		int	timeoutMs
	)

c_MotController_ConfigIntegratedSensorOffset()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigIntegratedSensorOffset	(	void *	handle,
		double	offsetDegrees,
		int	timeoutMs
	)

c_MotController_ConfigLimitSwitchDisableNeutralOnLOS()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigLimitSwitchDisableNeutralOnLOS	(	void *	handle,
		bool	limitSwitchDisableNeutralOnLOS,
		int	timeoutMs
	)

c_MotController_ConfigMaxIntegralAccumulator()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMaxIntegralAccumulator	(	void *	handle,
		int	slotIdx,
		double	iaccum,
		int	timeoutMs
	)

c_MotController_ConfigMotionAcceleration()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMotionAcceleration	(	void *	handle,
		int	sensorUnitsPer100msPerSec,
		int	timeoutMs
	)

c_MotController_ConfigMotionCruiseVelocity()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMotionCruiseVelocity	(	void *	handle,
		int	sensorUnitsPer100ms,
		int	timeoutMs
	)

c_MotController_ConfigMotionProfileTrajectoryInterpolationEnable()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMotionProfileTrajectoryInterpolationEnable	(	void *	handle,
		bool	enable,
		int	timeoutMs
	)

c_MotController_ConfigMotionProfileTrajectoryPeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMotionProfileTrajectoryPeriod	(	void *	handle,
		int	durationMs,
		int	timeoutMs
	)

c_MotController_ConfigMotionSCurveStrength()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMotionSCurveStrength	(	void *	handle,
		int	curveStrength,
		int	timeoutMs
	)

c_MotController_ConfigMotorCommutation()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigMotorCommutation	(	void *	handle,
		ctre::phoenix::motorcontrol::MotorCommutation	motorCommutation,
		int	timeoutMs
	)

c_MotController_ConfigNeutralDeadband()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigNeutralDeadband	(	void *	handle,
		double	percentDeadband,
		int	timeoutMs
	)

c_MotController_ConfigNominalOutputForward()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigNominalOutputForward	(	void *	handle,
		double	percentOut,
		int	timeoutMs
	)

c_MotController_ConfigNominalOutputReverse()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigNominalOutputReverse	(	void *	handle,
		double	percentOut,
		int	timeoutMs
	)

c_MotController_ConfigOpenLoopRamp()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigOpenLoopRamp	(	void *	handle,
		double	secondsFromNeutralToFull,
		int	timeoutMs
	)

c_MotController_ConfigPeakCurrentDuration()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigPeakCurrentDuration	(	void *	handle,
		int	milliseconds,
		int	timeoutMs
	)

c_MotController_ConfigPeakCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigPeakCurrentLimit	(	void *	handle,
		int	amps,
		int	timeoutMs
	)

c_MotController_ConfigPeakOutputForward()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigPeakOutputForward	(	void *	handle,
		double	percentOut,
		int	timeoutMs
	)

c_MotController_ConfigPeakOutputReverse()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigPeakOutputReverse	(	void *	handle,
		double	percentOut,
		int	timeoutMs
	)

c_MotController_ConfigPulseWidthPeriod_EdgesPerRot()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigPulseWidthPeriod_EdgesPerRot	(	void *	handle,
		int	pulseWidthPeriod_EdgesPerRot,
		int	timeoutMs
	)

c_MotController_ConfigPulseWidthPeriod_FilterWindowSz()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigPulseWidthPeriod_FilterWindowSz	(	void *	handle,
		int	pulseWidthPeriod_FilterWindowSz,
		int	timeoutMs
	)

c_MotController_ConfigRemoteFeedbackFilter()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigRemoteFeedbackFilter	(	void *	handle,
		int	deviceID,
		int	remoteSensorSource,
		int	remoteOrdinal,
		int	timeoutMs
	)

c_MotController_ConfigRemoteSensorClosedLoopDisableNeutralOnLOS()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigRemoteSensorClosedLoopDisableNeutralOnLOS	(	void *	handle,
		bool	remoteSensorClosedLoopDisableNeutralOnLOS,
		int	timeoutMs
	)

c_MotController_ConfigReverseLimitSwitchSource()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigReverseLimitSwitchSource	(	void *	handle,
		int	type,
		int	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs
	)

c_MotController_ConfigReverseSoftLimitEnable()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigReverseSoftLimitEnable	(	void *	handle,
		bool	enable,
		int	timeoutMs
	)

c_MotController_ConfigReverseSoftLimitThreshold()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigReverseSoftLimitThreshold	(	void *	handle,
		int	reverseSensorLimit,
		int	timeoutMs
	)

c_MotController_ConfigSelectedFeedbackCoefficient()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSelectedFeedbackCoefficient	(	void *	handle,
		double	coefficient,
		int	pidIdx,
		int	timeoutMs
	)

c_MotController_ConfigSelectedFeedbackSensor()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSelectedFeedbackSensor	(	void *	handle,
		int	feedbackDevice,
		int	pidIdx,
		int	timeoutMs
	)

c_MotController_ConfigSensorTerm()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSensorTerm	(	void *	handle,
		int	sensorTerm,
		int	feedbackDevice,
		int	timeoutMs
	)

c_MotController_ConfigSetCustomParam()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSetCustomParam	(	void *	handle,
		int	newValue,
		int	paramIndex,
		int	timeoutMs
	)

c_MotController_ConfigSetParameter()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSetParameter	(	void *	handle,
		int	param,
		double	value,
		uint8_t	subValue,
		int	ordinal,
		int	timeoutMs
	)

c_MotController_ConfigSoftLimitDisableNeutralOnLOS()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSoftLimitDisableNeutralOnLOS	(	void *	handle,
		bool	softLimitDisableNeutralOnLOS,
		int	timeoutMs
	)

c_MotController_ConfigStatorCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigStatorCurrentLimit	(	void *	handle,
		const double *	params,
		int	paramCnt,
		int	timeoutMs
	)

c_MotController_ConfigStatorCurrentLimitEnable()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigStatorCurrentLimitEnable	(	void *	handle,
		bool	enable,
		int	timeoutMs
	)

c_MotController_ConfigSupplyCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSupplyCurrentLimit	(	void *	handle,
		const double *	params,
		int	paramCnt,
		int	timeoutMs
	)

c_MotController_ConfigSupplyCurrentLimitEnable()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigSupplyCurrentLimitEnable	(	void *	handle,
		bool	enable,
		int	timeoutMs
	)

c_MotController_ConfigVelocityMeasurementPeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigVelocityMeasurementPeriod	(	void *	handle,
		int	period,
		int	timeoutMs
	)

c_MotController_ConfigVelocityMeasurementWindow()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigVelocityMeasurementWindow	(	void *	handle,
		int	windowSize,
		int	timeoutMs
	)

c_MotController_ConfigVoltageCompSaturation()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigVoltageCompSaturation	(	void *	handle,
		double	voltage,
		int	timeoutMs
	)

c_MotController_ConfigVoltageMeasurementFilter()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ConfigVoltageMeasurementFilter	(	void *	handle,
		int	filterWindowSamples,
		int	timeoutMs
	)

c_MotController_Create1()

CCIEXPORT void * c_MotController_Create1

(

int

baseArbId

)

c_MotController_Create2()

CCIEXPORT void * c_MotController_Create2	(	int	deviceID,
		const char *	model,
		const char *	canbus
	)

c_MotController_Destroy()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Destroy

(

void *

handle

)

c_MotController_DestroyAll()

CCIEXPORT void c_MotController_DestroyAll

(

)

c_MotController_EnableCurrentLimit()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_EnableCurrentLimit	(	void *	handle,
		bool	enable
	)

c_MotController_EnableHeadingHold()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_EnableHeadingHold	(	void *	handle,
		bool	enable
	)

c_MotController_EnableVoltageCompensation()

CCIEXPORT void c_MotController_EnableVoltageCompensation	(	void *	handle,
		bool	enable
	)

c_MotController_GetActiveTrajectoryAll()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryAll	(	void *	handle,
		int *	vel,
		int *	pos,
		double *	heading
	)

c_MotController_GetActiveTrajectoryAll_5()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryAll_5	(	void *	handle,
		int *	vel,
		int *	pos,
		double *	arbFeedFwd,
		int	pidIdx
	)

c_MotController_GetActiveTrajectoryArbFeedFwd_3()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryArbFeedFwd_3	(	void *	handle,
		double *	param,
		int	pidIdx
	)

c_MotController_GetActiveTrajectoryHeading()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryHeading	(	void *	handle,
		double *	param
	)

c_MotController_GetActiveTrajectoryPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryPosition	(	void *	handle,
		int *	param
	)

c_MotController_GetActiveTrajectoryPosition_3()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryPosition_3	(	void *	handle,
		int *	param,
		int	pidIdx
	)

c_MotController_GetActiveTrajectoryVelocity()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryVelocity	(	void *	handle,
		int *	param
	)

c_MotController_GetActiveTrajectoryVelocity_3()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetActiveTrajectoryVelocity_3	(	void *	handle,
		int *	param,
		int	pidIdx
	)

c_MotController_GetAnalogIn()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetAnalogIn	(	void *	handle,
		int *	param
	)

c_MotController_GetAnalogInAll()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetAnalogInAll	(	void *	handle,
		int *	withOv,
		int *	raw,
		int *	vel
	)

c_MotController_GetAnalogInRaw()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetAnalogInRaw	(	void *	handle,
		int *	param
	)

c_MotController_GetAnalogInVel()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetAnalogInVel	(	void *	handle,
		int *	param
	)

c_MotController_GetAppliedControlMode()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetAppliedControlMode	(	void *	handle,
		int &	controlMode
	)

c_MotController_GetBaseID()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetBaseID	(	void *	handle,
		int *	baseArbId
	)

c_MotController_GetBusVoltage()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetBusVoltage	(	void *	handle,
		double *	voltage
	)

c_MotController_GetClosedLoopError()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetClosedLoopError	(	void *	handle,
		int *	closedLoopError,
		int	pidIdx
	)

c_MotController_GetClosedLoopTarget()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetClosedLoopTarget	(	void *	handle,
		int *	value,
		int	pidIdx
	)

c_MotController_GetDescription()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetDescription	(	void *	handle,
		char *	toFill,
		int	toFillByteSz,
		size_t *	numBytesFilled
	)

c_MotController_GetDeviceNumber()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetDeviceNumber	(	void *	handle,
		int *	deviceNumber
	)

c_MotController_GetErrorDerivative()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetErrorDerivative	(	void *	handle,
		double *	derror,
		int	pidIdx
	)

c_MotController_GetFaults()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetFaults	(	void *	handle,
		int *	param
	)

c_MotController_GetFirmwareVersion()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetFirmwareVersion	(	void *	handle,
		int *
	)

c_MotController_GetIntegralAccumulator()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetIntegralAccumulator	(	void *	handle,
		double *	iaccum,
		int	pidIdx
	)

c_MotController_GetIntegratedSensor()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetIntegratedSensor	(	void *	handle,
		double *	pos,
		double *	absPos,
		double *	vel
	)

c_MotController_GetInverted()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetInverted	(	void *	handle,
		bool *	invert
	)

c_MotController_GetLastError()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetLastError

(

void *

handle

)

c_MotController_GetLimitSwitchState()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetLimitSwitchState	(	void *	handle,
		int *	isFwdClosed,
		int *	isRevClosed
	)

c_MotController_GetMotionProfileStatus()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetMotionProfileStatus	(	void *	handle,
		size_t *	topBufferRem,
		size_t *	topBufferCnt,
		int *	btmBufferCnt,
		bool *	hasUnderrun,
		bool *	isUnderrun,
		bool *	activePointValid,
		bool *	isLast,
		int *	profileSlotSelect,
		int *	outputEnable
	)

c_MotController_GetMotionProfileStatus_2()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetMotionProfileStatus_2	(	void *	handle,
		size_t *	topBufferRem,
		size_t *	topBufferCnt,
		int *	btmBufferCnt,
		bool *	hasUnderrun,
		bool *	isUnderrun,
		bool *	activePointValid,
		bool *	isLast,
		int *	profileSlotSelect,
		int *	outputEnable,
		int *	timeDurMs,
		int *	profileSlotSelect1
	)

c_MotController_GetMotionProfileTopLevelBufferCount()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetMotionProfileTopLevelBufferCount	(	void *	handle,
		int *	value
	)

c_MotController_GetMotorOutputPercent()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetMotorOutputPercent	(	void *	handle,
		double *	percentOutput
	)

c_MotController_GetOutputCurrent()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetOutputCurrent	(	void *	handle,
		double *	current
	)

c_MotController_GetPinStateQuadA()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPinStateQuadA	(	void *	handle,
		int *	param
	)

c_MotController_GetPinStateQuadB()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPinStateQuadB	(	void *	handle,
		int *	param
	)

c_MotController_GetPinStateQuadIdx()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPinStateQuadIdx	(	void *	handle,
		int *	param
	)

c_MotController_GetPulseWidthAll()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPulseWidthAll	(	void *	handle,
		int *	pos,
		int *	vel,
		int *	riseToRiseUs,
		int *	riseToFallUs
	)

c_MotController_GetPulseWidthPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPulseWidthPosition	(	void *	handle,
		int *	param
	)

c_MotController_GetPulseWidthRiseToFallUs()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPulseWidthRiseToFallUs	(	void *	handle,
		int *	param
	)

c_MotController_GetPulseWidthRiseToRiseUs()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPulseWidthRiseToRiseUs	(	void *	handle,
		int *	param
	)

c_MotController_GetPulseWidthVelocity()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetPulseWidthVelocity	(	void *	handle,
		int *	param
	)

c_MotController_GetQuadPinStates()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetQuadPinStates	(	void *	handle,
		int *	quadA,
		int *	quadB,
		int *	quadIdx
	)

c_MotController_GetQuadraturePosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetQuadraturePosition	(	void *	handle,
		int *	param
	)

c_MotController_GetQuadratureSensor()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetQuadratureSensor	(	void *	handle,
		int *	pos,
		int *	vel
	)

c_MotController_GetQuadratureVelocity()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetQuadratureVelocity	(	void *	handle,
		int *	param
	)

c_MotController_GetSelectedSensorPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetSelectedSensorPosition	(	void *	handle,
		int *	param,
		int	pidIdx
	)

c_MotController_GetSelectedSensorVelocity()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetSelectedSensorVelocity	(	void *	handle,
		int *	param,
		int	pidIdx
	)

c_MotController_GetStatorCurrent()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetStatorCurrent	(	void *	handle,
		double *	current
	)

c_MotController_GetStatusFramePeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetStatusFramePeriod	(	void *	handle,
		int	frame,
		int *	periodMs,
		int	timeoutMs
	)

c_MotController_GetStickyFaults()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetStickyFaults	(	void *	handle,
		int *	param
	)

c_MotController_GetSupplyCurrent()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetSupplyCurrent	(	void *	handle,
		double *	current
	)

c_MotController_GetTemperature()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_GetTemperature	(	void *	handle,
		double *	temperature
	)

c_MotController_HasResetOccurred()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_HasResetOccurred	(	void *	handle,
		bool *
	)

c_MotController_IsFwdLimitSwitchClosed()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_IsFwdLimitSwitchClosed	(	void *	handle,
		int *	param
	)

c_MotController_IsMotionProfileFinished()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_IsMotionProfileFinished	(	void *	handle,
		bool *	value
	)

c_MotController_IsMotionProfileTopLevelBufferFull()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_IsMotionProfileTopLevelBufferFull	(	void *	handle,
		bool *	value
	)

c_MotController_IsRevLimitSwitchClosed()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_IsRevLimitSwitchClosed	(	void *	handle,
		int *	param
	)

c_MotController_OverrideLimitSwitchesEnable()

CCIEXPORT void c_MotController_OverrideLimitSwitchesEnable	(	void *	handle,
		bool	enable
	)

c_MotController_OverrideSoftLimitsEnable()

CCIEXPORT void c_MotController_OverrideSoftLimitsEnable	(	void *	handle,
		bool	enable
	)

c_MotController_ProcessMotionProfileBuffer()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_ProcessMotionProfileBuffer

(

void *

handle

)

c_MotController_PushMotionProfileTrajectory()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_PushMotionProfileTrajectory	(	void *	handle,
		double	position,
		double	velocity,
		double	headingDeg,
		int	profileSlotSelect,
		bool	isLastPoint,
		bool	zeroPos
	)

c_MotController_PushMotionProfileTrajectory_2()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_PushMotionProfileTrajectory_2	(	void *	handle,
		double	position,
		double	velocity,
		double	headingDeg,
		int	profileSlotSelect0,
		int	profileSlotSelect1,
		bool	isLastPoint,
		bool	zeroPos,
		int	durationMs
	)

c_MotController_PushMotionProfileTrajectory_3()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_PushMotionProfileTrajectory_3	(	void *	handle,
		double	position,
		double	velocity,
		double	arbFeedFwd,
		double	auxiliaryPos,
		double	auxiliaryVel,
		double	auxiliaryArbFeedFwd,
		uint32_t	profileSlotSelect0,
		uint32_t	profileSlotSelect1,
		bool	isLastPoint,
		bool	zeroPos0,
		uint32_t	timeDur,
		bool	useAuxPID
	)

c_MotController_SelectDemandType()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SelectDemandType	(	void *	handle,
		bool	enable
	)

c_MotController_SelectProfileSlot()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SelectProfileSlot	(	void *	handle,
		int	slotIdx,
		int	pidIdx
	)

c_MotController_Set_4()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_Set_4	(	void *	handle,
		int	mode,
		double	demand0,
		double	demand1,
		int	demand1Type
	)

c_MotController_SetAnalogPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetAnalogPosition	(	void *	handle,
		int	newPosition,
		int	timeoutMs
	)

c_MotController_SetControlFramePeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetControlFramePeriod	(	void *	handle,
		int	frame,
		int	periodMs
	)

c_MotController_SetDemand()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetDemand	(	void *	handle,
		int	mode,
		int	demand0,
		int	demand1
	)

c_MotController_SetIntegralAccumulator()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetIntegralAccumulator	(	void *	handle,
		double	iaccum,
		int	pidIdx,
		int	timeoutMs
	)

c_MotController_SetIntegratedSensorPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetIntegratedSensorPosition	(	void *	handle,
		double	newpos,
		int	timeoutMs
	)

c_MotController_SetIntegratedSensorPositionToAbsolute()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetIntegratedSensorPositionToAbsolute	(	void *	handle,
		int	timeoutMs
	)

c_MotController_SetInverted()

CCIEXPORT void c_MotController_SetInverted	(	void *	handle,
		bool	invert
	)

c_MotController_SetInverted_2()

CCIEXPORT void c_MotController_SetInverted_2	(	void *	handle,
		int	invertType
	)

c_MotController_SetLastError()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetLastError	(	void *	handle,
		int	error
	)

c_MotController_SetMPEOutput()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetMPEOutput	(	void *	handle,
		int	MpeOutput
	)

c_MotController_SetNeutralMode()

CCIEXPORT void c_MotController_SetNeutralMode	(	void *	handle,
		int	neutralMode
	)

c_MotController_SetPulseWidthPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetPulseWidthPosition	(	void *	handle,
		int	newPosition,
		int	timeoutMs
	)

c_MotController_SetQuadraturePosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetQuadraturePosition	(	void *	handle,
		int	newPosition,
		int	timeoutMs
	)

c_MotController_SetSelectedSensorPosition()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetSelectedSensorPosition	(	void *	handle,
		int	sensorPos,
		int	pidIdx,
		int	timeoutMs
	)

c_MotController_SetSensorPhase()

CCIEXPORT void c_MotController_SetSensorPhase	(	void *	handle,
		bool	PhaseSensor
	)

c_MotController_SetStatusFramePeriod()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_SetStatusFramePeriod	(	void *	handle,
		int	frame,
		uint8_t	periodMs,
		int	timeoutMs
	)

c_MotController_StartMotionProfile()

CCIEXPORT ctre::phoenix::ErrorCode c_MotController_StartMotionProfile	(	void *	handle,
		void *	streamHandle,
		uint32_t	minBufferedPts,
		ctre::phoenix::motorcontrol::ControlMode	controlMode
	)