ctre::phoenix::motorcontrol::TalonFXSimCollection Class Reference

Collection of simulation commands available to a TalonFX motor controller. More...

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

Public Member Functions
	TalonFXSimCollection (ctre::phoenix::motorcontrol::can::BaseTalon &motorController)
	Constructor for TalonFXSimCollection. More...
ErrorCode	GetLastError ()
	Gets the last error generated by this object. More...
double	GetMotorOutputLeadVoltage ()
	Gets the simulated output voltage across M+ and M- for the motor. More...
ErrorCode	SetBusVoltage (double vbat)
	Sets the simulated bus voltage of the TalonFX. More...
ErrorCode	SetSupplyCurrent (double currA)
	Sets the simulated supply current of the TalonFX. More...
ErrorCode	SetStatorCurrent (double currA)
	Sets the simulated stator current of the TalonFX. More...
ErrorCode	SetLimitFwd (bool isClosed)
	Sets the simulated forward limit switch of the TalonFX. More...
ErrorCode	SetLimitRev (bool isClosed)
	Sets the simulated reverse limit switch of the TalonFX. More...
ErrorCode	SetIntegratedSensorRawPosition (int newPos)
	Sets the simulated raw integrated sensor position of the TalonFX. More...
ErrorCode	AddIntegratedSensorPosition (int dPos)
	Adds to the simulated integrated sensor position of the TalonFX. More...
ErrorCode	SetIntegratedSensorVelocity (int newVel)
	Sets the simulated integrated sensor velocity of the TalonFX. More...

Detailed Description

Collection of simulation commands available to a TalonFX motor controller.

Use the getSimCollection() routine inside your motor controller to create the respective sim collection.

Deprecated:

This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Constructor & Destructor Documentation

TalonFXSimCollection()

ctre::phoenix::motorcontrol::TalonFXSimCollection::TalonFXSimCollection

(

ctre::phoenix::motorcontrol::can::BaseTalon &

motorController

)

Constructor for TalonFXSimCollection.

Parameters

motorController

TalonFX Motor Controller to connect Collection to

Member Function Documentation

AddIntegratedSensorPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::AddIntegratedSensorPosition

(

int

dPos

)

Adds to the simulated integrated sensor position of the TalonFX.

Parameters

dPos	the change in position in native units

Returns

error code

GetLastError()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::GetLastError

(

)

Gets the last error generated by this object.

Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.

Returns

Last Error Code generated by a function.

GetMotorOutputLeadVoltage()

double ctre::phoenix::motorcontrol::TalonFXSimCollection::GetMotorOutputLeadVoltage

(

)

Gets the simulated output voltage across M+ and M- for the motor.

Returns

applied voltage to the motor in volts

SetBusVoltage()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetBusVoltage

(

double

vbat

)

Sets the simulated bus voltage of the TalonFX.

The minimum allowed bus voltage is 4 V - values below this will be promoted to 4 V.

Parameters

vbat	the bus voltage in volts

Returns

error code

SetIntegratedSensorRawPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetIntegratedSensorRawPosition

(

int

newPos

)

Sets the simulated raw integrated sensor position of the TalonFX.

The TalonFX integrates this to calculate the true reported integrated sensor position.

When using the WPI Sim GUI, you will notice a readonly 'position' and settable 'rawPositionInput'. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to 'rawPositionInput' will be integrated into the emulated position. This way a simulator can modify the position without overriding your hardware API calls for home-ing your sensor.

Inputs to this function over time should be continuous, as user calls of SetSelectedSensorPosition() and SetIntegratedSensorPosition() will be accounted for in the calculation.

Parameters

newPos

the new raw position in native units

Returns

error code

SetIntegratedSensorVelocity()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetIntegratedSensorVelocity

(

int

newVel

)

Sets the simulated integrated sensor velocity of the TalonFX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

SetLimitFwd()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetLimitFwd

(

bool

isClosed

)

Sets the simulated forward limit switch of the TalonFX.

Parameters

isClosed

true if the limit switch is closed

Returns

error code

SetLimitRev()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetLimitRev

(

bool

isClosed

)

Sets the simulated reverse limit switch of the TalonFX.

Parameters

isClosed

true if the limit switch is closed

Returns

error code

SetStatorCurrent()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetStatorCurrent

(

double

currA

)

Sets the simulated stator current of the TalonFX.

Parameters

currA

the stator current in amps

Returns

error code

SetSupplyCurrent()

ErrorCode ctre::phoenix::motorcontrol::TalonFXSimCollection::SetSupplyCurrent

(

double

currA

)

Sets the simulated supply current of the TalonFX.

Parameters

currA

the supply current in amps

Returns

error code

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

• ctre/phoenix/motorcontrol/TalonFXSimCollection.h