Collection of sensors available to a motor controller. More...

#include <ctre/phoenix/motorcontrol/SensorCollection.h>

Public Member Functions
	SensorCollection (ctre::phoenix::motorcontrol::can::BaseTalon &motorController)
	Constructor for SensorCollection. More...

int	GetAnalogIn ()
	Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback. More...

ErrorCode	SetAnalogPosition (int newPosition, int timeoutMs=0)
	Sets analog position. More...

int	GetAnalogInRaw ()
	Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback. More...

int	GetAnalogInVel ()
	Get the velocity of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback. More...

int	GetQuadraturePosition ()
	Get the quadrature position of the Talon, regardless of whether it is actually being used for feedback. More...

ErrorCode	SetQuadraturePosition (int newPosition, int timeoutMs=0)
	Change the quadrature reported position. More...

ErrorCode	SyncQuadratureWithPulseWidth (int bookend0, int bookend1, bool bCrossZeroOnInterval, int offset=0, int timeoutMs=0)
	Change the quadrature reported position based on pulse width. More...

int	GetQuadratureVelocity ()
	Get the quadrature velocity, regardless of whether it is actually being used for feedback. More...

int	GetPulseWidthPosition ()
	Gets pulse width position, regardless of whether it is actually being used for feedback. More...

ErrorCode	SetPulseWidthPosition (int newPosition, int timeoutMs=0)
	Sets pulse width position. More...

int	GetPulseWidthVelocity ()
	Gets pulse width velocity, regardless of whether it is actually being used for feedback. More...

int	GetPulseWidthRiseToFallUs ()
	Gets pulse width rise to fall time. More...

int	GetPulseWidthRiseToRiseUs ()
	Gets pulse width rise to rise time. More...

int	GetPinStateQuadA ()
	Gets pin state quad a. More...

int	GetPinStateQuadB ()
	Gets pin state quad b. More...

int	GetPinStateQuadIdx ()
	Gets pin state quad index. More...

int	IsFwdLimitSwitchClosed ()
	Is forward limit switch closed. More...

int	IsRevLimitSwitchClosed ()
	Is reverse limit switch closed. More...

Friends
class	ctre::phoenix::motorcontrol::can::BaseTalon

Detailed Description

Collection of sensors available to a motor controller.

For best performance and update-rate, we recommend using the configSelectedFeedbackSensor() and getSelectedSensor*() routines. However there are occasions where accessing raw sensor values may be useful or convenient. Particularly if you are seeding one sensor based on another, or need to circumvent sensor-phase.

Use the getSensorCollection() routine inside your motor controller to create a sensor collection.

Constructor & Destructor Documentation

◆ SensorCollection()

ctre::phoenix::motorcontrol::SensorCollection::SensorCollection ( ctre::phoenix::motorcontrol::can::BaseTalon & motorController )

Constructor for SensorCollection.

Parameters

motorController Talon Motor Controller to connect Collection to

Member Function Documentation

◆ GetAnalogIn()

int ctre::phoenix::motorcontrol::SensorCollection::GetAnalogIn ( )

Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the 24bit analog value. The bottom ten bits is the ADC (0 - 1023) on the analog pin of the Talon. The upper 14 bits tracks the overflows and underflows (continuous sensor).

◆ GetAnalogInRaw()

int ctre::phoenix::motorcontrol::SensorCollection::GetAnalogInRaw ( )

Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the ADC (0 - 1023) on analog pin of the Talon.

◆ GetAnalogInVel()

int ctre::phoenix::motorcontrol::SensorCollection::GetAnalogInVel ( )

Get the velocity of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the speed in units per 100ms where 1024 units is one rotation.

◆ GetPinStateQuadA()

int ctre::phoenix::motorcontrol::SensorCollection::GetPinStateQuadA ( )

Gets pin state quad a.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the pin state of quad a (1 if asserted, 0 if not asserted).

◆ GetPinStateQuadB()

int ctre::phoenix::motorcontrol::SensorCollection::GetPinStateQuadB ( )

Gets pin state quad b.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: Digital level of QUADB pin (1 if asserted, 0 if not asserted).

◆ GetPinStateQuadIdx()

int ctre::phoenix::motorcontrol::SensorCollection::GetPinStateQuadIdx ( )

Gets pin state quad index.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: Digital level of QUAD Index pin (1 if asserted, 0 if not asserted).

◆ GetPulseWidthPosition()

int ctre::phoenix::motorcontrol::SensorCollection::GetPulseWidthPosition ( )

Gets pulse width position, regardless of whether it is actually being used for feedback.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the pulse width position.

◆ GetPulseWidthRiseToFallUs()

int ctre::phoenix::motorcontrol::SensorCollection::GetPulseWidthRiseToFallUs ( )

Gets pulse width rise to fall time.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the pulse width rise to fall time in microseconds.

◆ GetPulseWidthRiseToRiseUs()

int ctre::phoenix::motorcontrol::SensorCollection::GetPulseWidthRiseToRiseUs ( )

Gets pulse width rise to rise time.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the pulse width rise to rise time in microseconds.

◆ GetPulseWidthVelocity()

int ctre::phoenix::motorcontrol::SensorCollection::GetPulseWidthVelocity ( )

Gets pulse width velocity, regardless of whether it is actually being used for feedback.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the pulse width velocity in units per 100ms (where 4096 units is 1 rotation).

◆ GetQuadraturePosition()

int ctre::phoenix::motorcontrol::SensorCollection::GetQuadraturePosition ( )

Get the quadrature position of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the quadrature position.

◆ GetQuadratureVelocity()

int ctre::phoenix::motorcontrol::SensorCollection::GetQuadratureVelocity ( )

Get the quadrature velocity, regardless of whether it is actually being used for feedback.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: the quadrature velocity in units per 100ms.

◆ IsFwdLimitSwitchClosed()

int ctre::phoenix::motorcontrol::SensorCollection::IsFwdLimitSwitchClosed ( )

Is forward limit switch closed.

This method relies on the Status 1 message, which has a default period of 10ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: '1' iff forward limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

◆ IsRevLimitSwitchClosed()

int ctre::phoenix::motorcontrol::SensorCollection::IsRevLimitSwitchClosed ( )

Is reverse limit switch closed.

This method relies on the Status 1 message, which has a default period of 10ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns: '1' iff reverse limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

◆ SetAnalogPosition()

ErrorCode ctre::phoenix::motorcontrol::SensorCollection::SetAnalogPosition	(	int	newPosition,
		int	timeoutMs = `0`
	)

Sets analog position.

Parameters

newPosition	The new position.
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.

Returns: an ErrorCode.

◆ SetPulseWidthPosition()

ErrorCode ctre::phoenix::motorcontrol::SensorCollection::SetPulseWidthPosition	(	int	newPosition,
		int	timeoutMs = `0`
	)

Sets pulse width position.

Parameters

newPosition	The position value to apply to the sensor.
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.

Returns: an ErrErrorCode

◆ SetQuadraturePosition()

ErrorCode ctre::phoenix::motorcontrol::SensorCollection::SetQuadraturePosition	(	int	newPosition,
		int	timeoutMs = `0`
	)

Change the quadrature reported position.

Typically this is used to "zero" the sensor. This only works with Quadrature sensor. To set the selected sensor position regardless of what type it is, see SetSelectedSensorPosition in the motor controller class.

Parameters

newPosition	The position value to apply to the sensor.
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.

Returns: error code.

◆ SyncQuadratureWithPulseWidth()

ErrorCode ctre::phoenix::motorcontrol::SensorCollection::SyncQuadratureWithPulseWidth	(	int	bookend0,
		int	bookend1,
		bool	bCrossZeroOnInterval,
		int	offset = `0`,
		int	timeoutMs = `0`
	)

Change the quadrature reported position based on pulse width.

This can be used to effectively make quadrature absolute. For rotary mechanisms with >360 movement (such as typical swerve modules) bookend0 and bookend1 can be both set to 0 and bCrossZeroOnInterval can be set to true. For mechanisms with less than 360 travel (such as arms), bookend0 and bookend1 should be set to the pulse width values at the two extremes. If the interval crosses over the pulse width value of 0 (or any multiple of 4096), bCrossZeroOnInterval should be true and otherwise should be false. An offset can also be set.

Parameters

bookend0	value at extreme 0
bookend1	value at extreme 1
bCrossZeroOnInterval	value at extreme 1
offset	(Optional) Value to add to pulse width
timeoutMs	(Optional) How long to wait for confirmation. Pass zero so that call does not block.

Returns: error code.

Friends And Related Function Documentation

◆ ctre::phoenix::motorcontrol::can::BaseTalon

friend class ctre::phoenix::motorcontrol::can::BaseTalon

friend

The documentation for this class was generated from the following file:

ctre/phoenix/motorcontrol/SensorCollection.h

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SensorCollection()

Member Function Documentation

◆ GetAnalogIn()

◆ GetAnalogInRaw()

◆ GetAnalogInVel()

◆ GetPinStateQuadA()

◆ GetPinStateQuadB()

◆ GetPinStateQuadIdx()

◆ GetPulseWidthPosition()

◆ GetPulseWidthRiseToFallUs()

◆ GetPulseWidthRiseToRiseUs()

◆ GetPulseWidthVelocity()

◆ GetQuadraturePosition()

◆ GetQuadratureVelocity()

◆ IsFwdLimitSwitchClosed()

◆ IsRevLimitSwitchClosed()

◆ SetAnalogPosition()

◆ SetPulseWidthPosition()

◆ SetQuadraturePosition()

◆ SyncQuadratureWithPulseWidth()

Friends And Related Function Documentation

◆ ctre::phoenix::motorcontrol::can::BaseTalon