Collection of simulation commands available to a TalonSRX motor controller.
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#include <ctre/phoenix/motorcontrol/TalonSRXSimCollection.h>
Collection of simulation commands available to a TalonSRX motor controller.
Use the getSimCollection() routine inside your motor controller to create the respective sim collection.
◆ TalonSRXSimCollection()
Constructor for TalonSRXSimCollection.
- Parameters
-
| motorController | TalonSRX Motor Controller to connect Collection to |
◆ AddAnalogPosition()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::AddAnalogPosition |
( |
int |
dPos | ) |
|
Adds to the simulated analog position of the TalonSRX.
- Parameters
-
| dPos | the change in position in native units |
- Returns
- error code
◆ AddPulseWidthPosition()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::AddPulseWidthPosition |
( |
int |
dPos | ) |
|
Adds to the simulated pulse width position of the TalonSRX.
- Parameters
-
| dPos | the change in position in native units |
- Returns
- error code
◆ AddQuadraturePosition()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::AddQuadraturePosition |
( |
int |
dPos | ) |
|
Adds to the simulated quadrature position of the TalonSRX.
- Parameters
-
| dPos | the change in position in native units |
- Returns
- error code
◆ GetLastError()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::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::TalonSRXSimCollection::GetMotorOutputLeadVoltage |
( |
| ) |
|
Gets the simulated output voltage across M+ and M- for the motor.
- Returns
- applied voltage to the motor in volts
◆ SetAnalogPosition()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetAnalogPosition |
( |
int |
newPos | ) |
|
Sets the simulated analog position of the TalonSRX.
- Parameters
-
| newPos | the new position in native units |
- Returns
- error code
◆ SetAnalogVelocity()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetAnalogVelocity |
( |
int |
newVel | ) |
|
Sets the simulated analog velocity of the TalonSRX.
- Parameters
-
| newVel | the new velocity in native units per 100ms |
- Returns
- error code
◆ SetBusVoltage()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetBusVoltage |
( |
double |
vbat | ) |
|
Sets the simulated bus voltage of the TalonSRX.
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
◆ SetLimitFwd()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetLimitFwd |
( |
bool |
isClosed | ) |
|
Sets the simulated forward limit switch of the TalonSRX.
- Parameters
-
| isClosed | true if the limit switch is closed |
- Returns
- error code
◆ SetLimitRev()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetLimitRev |
( |
bool |
isClosed | ) |
|
Sets the simulated reverse limit switch of the TalonSRX.
- Parameters
-
| isClosed | true if the limit switch is closed |
- Returns
- error code
◆ SetPulseWidthConnected()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthConnected |
( |
bool |
isConnected | ) |
|
Sets if the simulated pulse width sensor is connected to the TalonSRX.
- Parameters
-
| isConnected | true if the pulse width sensor is connected |
- Returns
- error code
◆ SetPulseWidthPosition()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthPosition |
( |
int |
newPos | ) |
|
Sets the simulated pulse width position of the TalonSRX.
- Parameters
-
| newPos | the new position in native units |
- Returns
- error code
◆ SetPulseWidthRiseToRiseUs()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthRiseToRiseUs |
( |
double |
periodUs | ) |
|
Sets the simulated pulse width rise to rise time of the TalonSRX.
- Parameters
-
| periodUs | the pulse width rise to rise time in microseconds |
- Returns
- error code
◆ SetPulseWidthVelocity()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthVelocity |
( |
int |
newVel | ) |
|
Sets the simulated pulse width velocity of the TalonSRX.
- Parameters
-
| newVel | the new velocity in native units per 100ms |
- Returns
- error code
◆ SetQuadratureRawPosition()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetQuadratureRawPosition |
( |
int |
newPos | ) |
|
Sets the simulated raw quadrature position of the TalonSRX.
The TalonSRX integrates this to calculate the true reported quadrature 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 SetQuadraturePosition() will be accounted for in the calculation.
- Parameters
-
| newPos | the new raw position in native units |
- Returns
- error code
◆ SetQuadratureVelocity()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetQuadratureVelocity |
( |
int |
newVel | ) |
|
Sets the simulated quadrature velocity of the TalonSRX.
- Parameters
-
| newVel | the new velocity in native units per 100ms |
- Returns
- error code
◆ SetStatorCurrent()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetStatorCurrent |
( |
double |
currA | ) |
|
Sets the simulated stator current of the TalonSRX.
- Parameters
-
| currA | the stator current in amps |
- Returns
- error code
◆ SetSupplyCurrent()
| ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetSupplyCurrent |
( |
double |
currA | ) |
|
Sets the simulated supply current of the TalonSRX.
- Parameters
-
| currA | the supply current in amps |
- Returns
- error code
The documentation for this class was generated from the following file:
1.9.4