CTRE Phoenix C++ 5.33.1
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Interface for enhanced motor controllers. More...
#include <ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h>
Public Member Functions | |
virtual | ~IMotorControllerEnhanced () |
virtual ErrorCode | ConfigSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)=0 |
Select the feedback device for the motor controller. More... | |
virtual ErrorCode | ConfigSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)=0 |
Select the feedback device for the motor controller. More... | |
virtual ErrorCode | ConfigSupplyCurrentLimit (const SupplyCurrentLimitConfiguration &currLimitConfigs, int timeoutMs=50)=0 |
Configures the supply-side current limit. More... | |
virtual ErrorCode | SetStatusFramePeriod (StatusFrame frame, uint8_t periodMs, int timeoutMs=0)=0 |
Sets the period of the given status frame. More... | |
virtual ErrorCode | SetStatusFramePeriod (StatusFrameEnhanced frame, uint8_t periodMs, int timeoutMs=0)=0 |
Sets the period of the given status frame. More... | |
virtual int | GetStatusFramePeriod (StatusFrame frame, int timeoutMs=0)=0 |
Gets the period of the given status frame. More... | |
virtual int | GetStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs=0)=0 |
Gets the period of the given status frame. More... | |
virtual double | GetOutputCurrent ()=0 |
Gets the output current of the motor controller. More... | |
virtual ErrorCode | ConfigVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs=0)=0 |
Sets the period over which velocity measurements are taken. More... | |
virtual ErrorCode | ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)=0 |
Sets the number of velocity samples used in the rolling average velocity measurement. More... | |
virtual ErrorCode | ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0 |
Configures the forward limit switch for a remote source. More... | |
virtual ErrorCode | ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0 |
Configures the reverse limit switch for a remote source. More... | |
virtual ErrorCode | ConfigForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)=0 |
Configures the forward limit switch for a remote source. More... | |
virtual ErrorCode | ConfigReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)=0 |
Configures the reverse limit switch for a remote source. More... | |
Public Member Functions inherited from ctre::phoenix::motorcontrol::IMotorController | |
virtual | ~IMotorController () |
virtual void | Set (ControlMode Mode, double demand)=0 |
Sets the appropriate output on the talon, depending on the mode. More... | |
virtual void | Set (ControlMode mode, double demand0, DemandType demand1Type, double demand1)=0 |
virtual void | NeutralOutput ()=0 |
Neutral the motor output by setting control mode to disabled. More... | |
virtual void | SetNeutralMode (NeutralMode neutralMode)=0 |
Sets the mode of operation during neutral throttle output. More... | |
virtual void | SetSensorPhase (bool PhaseSensor)=0 |
Sets the phase of the sensor. More... | |
virtual void | SetInverted (bool invert)=0 |
Inverts the hbridge output of the motor controller. More... | |
virtual void | SetInverted (InvertType invertType)=0 |
Inverts the hbridge output of the motor controller in relation to the master if present. More... | |
virtual bool | GetInverted () const =0 |
virtual ErrorCode | ConfigFactoryDefault (int timeout)=0 |
Revert all configurations to factory default values. More... | |
virtual ErrorCode | ConfigOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)=0 |
Configures the open-loop ramp rate of throttle output. More... | |
virtual ErrorCode | ConfigClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)=0 |
Configures the closed-loop ramp rate of throttle output. More... | |
virtual ErrorCode | ConfigPeakOutputForward (double percentOut, int timeoutMs=0)=0 |
Configures the forward peak output percentage. More... | |
virtual ErrorCode | ConfigPeakOutputReverse (double percentOut, int timeoutMs=0)=0 |
Configures the reverse peak output percentage. More... | |
virtual ErrorCode | ConfigNominalOutputForward (double percentOut, int timeoutMs=0)=0 |
Configures the forward nominal output percentage. More... | |
virtual ErrorCode | ConfigNominalOutputReverse (double percentOut, int timeoutMs=0)=0 |
Configures the reverse nominal output percentage. More... | |
virtual ErrorCode | ConfigNeutralDeadband (double percentDeadband, int timeoutMs=0)=0 |
Configures the output deadband percentage. More... | |
virtual ErrorCode | ConfigVoltageCompSaturation (double voltage, int timeoutMs=0)=0 |
Configures the Voltage Compensation saturation voltage. More... | |
virtual ErrorCode | ConfigVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs=0)=0 |
Configures the voltage measurement filter. More... | |
virtual void | EnableVoltageCompensation (bool enable)=0 |
Enables voltage compensation. More... | |
virtual bool | IsVoltageCompensationEnabled ()=0 |
Returns the enable state of Voltage Compensation that the caller has set. More... | |
virtual double | GetBusVoltage ()=0 |
Gets the bus voltage seen by the device. More... | |
virtual double | GetMotorOutputPercent ()=0 |
Gets the output percentage of the motor controller. More... | |
virtual double | GetMotorOutputVoltage ()=0 |
virtual double | GetTemperature ()=0 |
Gets the temperature of the motor controller. More... | |
virtual ErrorCode | ConfigSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)=0 |
Select the remote feedback device for the motor controller. More... | |
virtual ErrorCode | ConfigSelectedFeedbackCoefficient (double coefficient, int pidIdx=0, int timeoutMs=0)=0 |
The Feedback Coefficient is a scalar applied to the value of the feedback sensor. More... | |
virtual ErrorCode | ConfigRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs=0)=0 |
Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. More... | |
virtual ErrorCode | ConfigRemoteFeedbackFilter (ctre::phoenix::sensors::CANCoder &canCoderRef, int remoteOrdinal, int timeoutMs=0)=0 |
Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. More... | |
virtual ErrorCode | ConfigRemoteFeedbackFilter (ctre::phoenix::motorcontrol::can::BaseTalon &talonRef, int remoteOrdinal, int timeoutMs=0)=0 |
Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. More... | |
virtual ErrorCode | ConfigSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs=0)=0 |
Select what sensor term should be bound to switch feedback device. More... | |
virtual double | GetSelectedSensorPosition (int pidIdx=0)=0 |
Get the selected sensor position (in raw sensor units). More... | |
virtual double | GetSelectedSensorVelocity (int pidIdx=0)=0 |
Get the selected sensor velocity. More... | |
virtual ErrorCode | SetSelectedSensorPosition (double sensorPos, int pidIdx=0, int timeoutMs=50)=0 |
Sets the sensor position to the given value. More... | |
virtual ErrorCode | SetControlFramePeriod (ControlFrame frame, int periodMs)=0 |
Sets the period of the given control frame. More... | |
virtual ErrorCode | SetStatusFramePeriod (StatusFrame frame, uint8_t periodMs, int timeoutMs=0)=0 |
Sets the period of the given status frame. More... | |
virtual int | GetStatusFramePeriod (StatusFrame frame, int timeoutMs=0)=0 |
Gets the period of the given status frame. More... | |
virtual ErrorCode | ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0 |
Configures the forward limit switch for a remote source. More... | |
virtual ErrorCode | ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0 |
Configures the reverse limit switch for a remote source. More... | |
virtual void | OverrideLimitSwitchesEnable (bool enable)=0 |
Sets the enable state for limit switches. More... | |
virtual ErrorCode | ConfigForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs=0)=0 |
Configures the forward soft limit threhold. More... | |
virtual ErrorCode | ConfigReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs=0)=0 |
Configures the reverse soft limit threshold. More... | |
virtual ErrorCode | ConfigForwardSoftLimitEnable (bool enable, int timeoutMs=0)=0 |
Configures the forward soft limit enable. More... | |
virtual ErrorCode | ConfigReverseSoftLimitEnable (bool enable, int timeoutMs=0)=0 |
Configures the reverse soft limit enable. More... | |
virtual void | OverrideSoftLimitsEnable (bool enable)=0 |
Can be used to override-disable the soft limits. More... | |
virtual ErrorCode | Config_kP (int slotIdx, double value, int timeoutMs=0)=0 |
Sets the 'P' constant in the given parameter slot. More... | |
virtual ErrorCode | Config_kI (int slotIdx, double value, int timeoutMs=0)=0 |
Sets the 'I' constant in the given parameter slot. More... | |
virtual ErrorCode | Config_kD (int slotIdx, double value, int timeoutMs=0)=0 |
Sets the 'D' constant in the given parameter slot. More... | |
virtual ErrorCode | Config_kF (int slotIdx, double value, int timeoutMs=0)=0 |
Sets the 'F' constant in the given parameter slot. More... | |
virtual ErrorCode | Config_IntegralZone (int slotIdx, double izone, int timeoutMs=0)=0 |
Sets the Integral Zone constant in the given parameter slot. More... | |
virtual ErrorCode | ConfigAllowableClosedloopError (int slotIdx, double allowableCloseLoopError, int timeoutMs=0)=0 |
Sets the allowable closed-loop error in the given parameter slot. More... | |
virtual ErrorCode | ConfigMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs=0)=0 |
Sets the maximum integral accumulator in the given parameter slot. More... | |
virtual ErrorCode | ConfigClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs=0)=0 |
Sets the peak closed-loop output. More... | |
virtual ErrorCode | ConfigClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs=0)=0 |
Sets the loop time (in milliseconds) of the PID closed-loop calculations. More... | |
virtual ErrorCode | ConfigAuxPIDPolarity (bool invert, int timeoutMs=0)=0 |
Configures the Polarity of the Auxiliary PID (PID1). More... | |
virtual ErrorCode | SetIntegralAccumulator (double iaccum, int pidIdx=0, int timeoutMs=0)=0 |
Sets the integral accumulator. More... | |
virtual double | GetClosedLoopError (int pidIdx=0)=0 |
Gets the closed-loop error. More... | |
virtual double | GetIntegralAccumulator (int pidIdx=0)=0 |
Gets the iaccum value. More... | |
virtual double | GetErrorDerivative (int pidIdx=0)=0 |
Gets the derivative of the closed-loop error. More... | |
virtual ErrorCode | SelectProfileSlot (int slotIdx, int pidIdx)=0 |
Selects which profile slot to use for closed-loop control. More... | |
virtual double | GetClosedLoopTarget (int pidIdx=0)=0 |
Gets the current target of a given closed loop. More... | |
virtual double | GetActiveTrajectoryPosition (int pidIdx=0)=0 |
Gets the active trajectory target position for using MotionMagic/MotionProfile control modes. More... | |
virtual double | GetActiveTrajectoryVelocity (int pidIdx=0)=0 |
Gets the active trajectory target velocity for using MotionMagic/MotionProfile control modes. More... | |
virtual double | GetActiveTrajectoryArbFeedFwd (int pidIdx=0)=0 |
Gets the active trajectory arbitrary feedforward using MotionMagic/MotionProfile control modes. More... | |
virtual ErrorCode | ConfigMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs=0)=0 |
Sets the Motion Magic Cruise Velocity. More... | |
virtual ErrorCode | ConfigMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs=0)=0 |
Sets the Motion Magic Acceleration. More... | |
virtual ErrorCode | ConfigMotionSCurveStrength (int curveStrength, int timeoutMs)=0 |
Sets the Motion Magic S Curve Strength. More... | |
virtual ErrorCode | ClearMotionProfileTrajectories ()=0 |
Clear the buffered motion profile in both controller's RAM (bottom), and in the API (top). More... | |
virtual int | GetMotionProfileTopLevelBufferCount ()=0 |
Retrieve just the buffer count for the api-level (top) buffer. More... | |
virtual ErrorCode | PushMotionProfileTrajectory (const ctre::phoenix::motion::TrajectoryPoint &trajPt)=0 |
Push another trajectory point into the top level buffer (which is emptied into the motor controller's bottom buffer as room allows). More... | |
virtual bool | IsMotionProfileTopLevelBufferFull ()=0 |
Retrieve just the buffer full for the api-level (top) buffer. More... | |
virtual void | ProcessMotionProfileBuffer ()=0 |
This must be called periodically to funnel the trajectory points from the API's top level buffer to the controller's bottom level buffer. More... | |
virtual ErrorCode | GetMotionProfileStatus (ctre::phoenix::motion::MotionProfileStatus &statusToFill)=0 |
Retrieve all status information. More... | |
virtual ErrorCode | ClearMotionProfileHasUnderrun (int timeoutMs=0)=0 |
Clear the "Has Underrun" flag. More... | |
virtual ErrorCode | ChangeMotionControlFramePeriod (int periodMs)=0 |
Calling application can opt to speed up the handshaking between the robot API and the controller to increase the download rate of the controller's Motion Profile. More... | |
virtual ErrorCode | ConfigMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs=0)=0 |
When trajectory points are processed in the motion profile executer, the MPE determines how long to apply the active trajectory point by summing baseTrajDurationMs with the timeDur of the trajectory point (see TrajectoryPoint). More... | |
virtual ErrorCode | ConfigFeedbackNotContinuous (bool feedbackNotContinuous, int timeoutMs=0)=0 |
Disables continuous tracking of the position for analog and pulse-width. More... | |
virtual ErrorCode | ConfigRemoteSensorClosedLoopDisableNeutralOnLOS (bool remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs=0)=0 |
Disables going to neutral (brake/coast) when a remote sensor is no longer detected. More... | |
virtual ErrorCode | ConfigClearPositionOnLimitF (bool clearPositionOnLimitF, int timeoutMs=0)=0 |
Enables clearing the position of the feedback sensor when the forward limit switch is triggered. More... | |
virtual ErrorCode | ConfigClearPositionOnLimitR (bool clearPositionOnLimitR, int timeoutMs=0)=0 |
Enables clearing the position of the feedback sensor when the reverse limit switch is triggered. More... | |
virtual ErrorCode | ConfigClearPositionOnQuadIdx (bool clearPositionOnQuadIdx, int timeoutMs=0)=0 |
Enables clearing the position of the feedback sensor when the quadrature index signal is detected. More... | |
virtual ErrorCode | ConfigLimitSwitchDisableNeutralOnLOS (bool limitSwitchDisableNeutralOnLOS, int timeoutMs=0)=0 |
Disables limit switches triggering (if enabled) when the sensor is no longer detected. More... | |
virtual ErrorCode | ConfigSoftLimitDisableNeutralOnLOS (bool softLimitDisableNeutralOnLOS, int timeoutMs=0)=0 |
Disables soft limits triggering (if enabled) when the sensor is no longer detected. More... | |
virtual ErrorCode | ConfigPulseWidthPeriod_EdgesPerRot (int pulseWidthPeriod_EdgesPerRot, int timeoutMs=0)=0 |
Sets the edges per rotation of a pulse width sensor. More... | |
virtual ErrorCode | ConfigPulseWidthPeriod_FilterWindowSz (int pulseWidthPeriod_FilterWindowSz, int timeoutMs=0)=0 |
Sets the number of samples to use in smoothing a pulse width sensor with a rolling average. More... | |
virtual ErrorCode | GetLastError ()=0 |
Gets the last error generated by this object. More... | |
virtual ErrorCode | GetFaults (Faults &toFill)=0 |
Polls the various fault flags. More... | |
virtual ErrorCode | GetStickyFaults (StickyFaults &toFill)=0 |
Polls the various sticky fault flags. More... | |
virtual ErrorCode | ClearStickyFaults (int timeoutMs=0)=0 |
Clears all sticky faults. More... | |
virtual int | GetFirmwareVersion ()=0 |
Gets the firmware version of the device. More... | |
virtual bool | HasResetOccurred ()=0 |
Returns true if the device has reset since last call. More... | |
virtual ErrorCode | ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)=0 |
Sets the value of a custom parameter. More... | |
virtual int | ConfigGetCustomParam (int paramIndex, int timeoutMs=0)=0 |
Gets the value of a custom parameter. More... | |
virtual ErrorCode | ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)=0 |
Sets a parameter. More... | |
virtual double | ConfigGetParameter (ParamEnum paramEnum, int ordinal, int timeoutMs=0)=0 |
Gets a parameter. More... | |
virtual int | GetBaseID ()=0 |
virtual int | GetDeviceID ()=0 |
Returns the Device ID. More... | |
virtual ControlMode | GetControlMode ()=0 |
Public Member Functions inherited from ctre::phoenix::motorcontrol::IFollower | |
virtual | ~IFollower () |
virtual void | Follow (ctre::phoenix::motorcontrol::IMotorController &masterToFollow)=0 |
Set the control mode and output value so that this motor controller will follow another motor controller. More... | |
virtual void | ValueUpdated ()=0 |
When master makes a device, this routine is called to signal the update. More... | |
Interface for enhanced motor controllers.
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inlinevirtual |
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pure virtual |
Configures the forward limit switch for a remote source.
For example, a CAN motor controller may need to monitor the Limit-F pin of another Talon or CANifier.
type | Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature. |
normalOpenOrClose | Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Configures the forward limit switch for a remote source.
For example, a CAN motor controller may need to monitor the Limit-F pin of another Talon or CANifier.
type | Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature. |
normalOpenOrClose | Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down. |
deviceID | Device ID of remote source (Talon SRX or CANifier device ID). |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implements ctre::phoenix::motorcontrol::IMotorController.
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Configures the reverse limit switch for a remote source.
For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon or CANifier.
type | Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature. |
normalOpenOrClose | Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Configures the reverse limit switch for a remote source.
For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon or CANifier.
type | Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature. |
normalOpenOrClose | Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down. |
deviceID | Device ID of remote source (Talon SRX or CANifier device ID). |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implements ctre::phoenix::motorcontrol::IMotorController.
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Select the feedback device for the motor controller.
feedbackDevice | Feedback Device to select. |
pidIdx | 0 for Primary closed-loop. 1 for auxiliary closed-loop. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::BaseTalon, ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonFX, and ctre::phoenix::motorcontrol::can::WPI_TalonSRX.
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pure virtual |
Select the feedback device for the motor controller.
feedbackDevice | Feedback Device to select. |
pidIdx | 0 for Primary closed-loop. 1 for auxiliary closed-loop. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implements ctre::phoenix::motorcontrol::IMotorController.
Implemented in ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::BaseTalon, ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonFX, and ctre::phoenix::motorcontrol::can::WPI_TalonSRX.
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pure virtual |
Configures the supply-side current limit.
currLimitCfg | Current limit configuration |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::BaseTalon, and ctre::phoenix::motorcontrol::can::TalonSRX.
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pure virtual |
Sets the period over which velocity measurements are taken.
period | Desired period for the velocity measurement. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Sets the number of velocity samples used in the rolling average velocity measurement.
windowSize | Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Gets the output current of the motor controller.
In the case of TalonSRX class, this routine returns supply current for legacy reasons. In order to get the "true" output current, call GetStatorCurrent(). In the case of TalonFX class, this routine returns the true output stator current.
[[deprecated("Use GetStatorCurrent/GetSupplyCurrent instead.")]]
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Gets the period of the given status frame.
frame | Frame to get the period of. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implements ctre::phoenix::motorcontrol::IMotorController.
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Gets the period of the given status frame.
frame | Frame to get the period of. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Sets the period of the given status frame.
User ensure CAN Bus utilization is not high.
This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use HasResetOccurred() to determine if the status frame needs to be reconfigured.
frame | Frame whose period is to be changed. |
periodMs | Period in ms for the given frame. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implements ctre::phoenix::motorcontrol::IMotorController.
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.
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pure virtual |
Sets the period of the given status frame.
User ensure CAN Bus utilization is not high.
This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use HasResetOccurred() to determine if the status frame needs to be reconfigured.
frame | Frame whose period is to be changed. |
periodMs | Period in ms for the given frame. |
timeoutMs | Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed. |
Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.