Base motor controller features for all CTRE CAN motor controllers. More...

#include <ctre/phoenix/motorcontrol/can/BaseMotorController.h>

Inheritance diagram for ctre::phoenix::motorcontrol::can::BaseMotorController:

Public Member Functions
	BaseMotorController (int deviceNumber, const char *model, std::string const &canbus="")
	Constructor for motor controllers. More...

virtual	~BaseMotorController ()

	BaseMotorController ()=delete

	BaseMotorController (BaseMotorController const &)=delete

BaseMotorController &	operator= (BaseMotorController const &)=delete

virtual int	GetDeviceID ()
	Returns the Device ID. More...

virtual void	Set (ControlMode mode, double value)
	Sets the appropriate output on the talon, depending on the mode. More...

virtual void	Set (ControlMode mode, double demand0, DemandType demand1Type, double demand1)

virtual void	NeutralOutput ()
	Neutral the motor output by setting control mode to disabled. More...

virtual void	SetNeutralMode (NeutralMode neutralMode)
	Sets the mode of operation during neutral throttle output. More...

virtual void	SetSensorPhase (bool PhaseSensor)
	Sets the phase of the sensor. More...

virtual void	SetInverted (bool invert)
	Inverts the hbridge output of the motor controller. More...

virtual void	SetInverted (InvertType invertType)
	Inverts the hbridge output of the motor controller in relation to the master if present. More...

virtual bool	GetInverted () const

virtual ctre::phoenix::ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Revert all configurations to factory default values. More...

virtual ctre::phoenix::ErrorCode	ConfigOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)
	Configures the open-loop ramp rate of throttle output. More...

virtual ctre::phoenix::ErrorCode	ConfigClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)
	Configures the closed-loop ramp rate of throttle output. More...

virtual ctre::phoenix::ErrorCode	ConfigPeakOutputForward (double percentOut, int timeoutMs=0)
	Configures the forward peak output percentage. More...

virtual ctre::phoenix::ErrorCode	ConfigPeakOutputReverse (double percentOut, int timeoutMs=0)
	Configures the reverse peak output percentage. More...

virtual ctre::phoenix::ErrorCode	ConfigNominalOutputForward (double percentOut, int timeoutMs=0)
	Configures the forward nominal output percentage. More...

virtual ctre::phoenix::ErrorCode	ConfigNominalOutputReverse (double percentOut, int timeoutMs=0)
	Configures the reverse nominal output percentage. More...

virtual ctre::phoenix::ErrorCode	ConfigNeutralDeadband (double percentDeadband, int timeoutMs=0)
	Configures the output deadband percentage. More...

virtual ctre::phoenix::ErrorCode	ConfigVoltageCompSaturation (double voltage, int timeoutMs=0)
	Configures the Voltage Compensation saturation voltage. More...

virtual ctre::phoenix::ErrorCode	ConfigVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs=0)
	Configures the voltage measurement filter. More...

virtual void	EnableVoltageCompensation (bool enable)
	Enables voltage compensation. More...

virtual bool	IsVoltageCompensationEnabled ()
	Returns the enable state of Voltage Compensation that the caller has set. More...

virtual double	GetBusVoltage ()
	Gets the bus voltage seen by the device. More...

virtual double	GetMotorOutputPercent ()
	Gets the output percentage of the motor controller. More...

virtual double	GetMotorOutputVoltage ()

virtual double	GetTemperature ()
	Gets the temperature of the motor controller. More...

virtual ctre::phoenix::ErrorCode	ConfigSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)
	Select the remote feedback device for the motor controller. More...

virtual ctre::phoenix::ErrorCode	ConfigSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)
	Select the feedback device for the motor controller. More...

virtual ctre::phoenix::ErrorCode	ConfigSelectedFeedbackCoefficient (double coefficient, int pidIdx=0, int timeoutMs=0)
	The Feedback Coefficient is a scalar applied to the value of the feedback sensor. More...

virtual ctre::phoenix::ErrorCode	ConfigRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs=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)
	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)
	Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. More...

virtual ctre::phoenix::ErrorCode	ConfigSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs=0)
	Select what sensor term should be bound to switch feedback device. More...

virtual ctre::phoenix::ErrorCode	ConfigSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice, int timeoutMs=0)
	Select what sensor term should be bound to switch feedback device. More...

virtual double	GetSelectedSensorPosition (int pidIdx=0)
	Get the selected sensor position (in raw sensor units). More...

virtual double	GetSelectedSensorVelocity (int pidIdx=0)
	Get the selected sensor velocity. More...

virtual ctre::phoenix::ErrorCode	SetSelectedSensorPosition (double sensorPos, int pidIdx=0, int timeoutMs=50)
	Sets the sensor position to the given value. More...

virtual ctre::phoenix::ErrorCode	SetControlFramePeriod (ControlFrame frame, int periodMs)
	Sets the period of the given control frame. More...

virtual ctre::phoenix::ErrorCode	SetStatusFramePeriod (StatusFrame frame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame. More...

virtual ctre::phoenix::ErrorCode	SetStatusFramePeriod (StatusFrameEnhanced frame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame. More...

virtual int	GetStatusFramePeriod (StatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame. More...

virtual int	GetStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs=0)
	Gets the period of the given status frame. More...

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementPeriod (ctre::phoenix::sensors::SensorVelocityMeasPeriod period, int timeoutMs=0)
	Sets the period over which velocity measurements are taken. More...

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)
	Sets the number of velocity samples used in the rolling average velocity measurement. More...

virtual ctre::phoenix::ErrorCode	ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)
	Configures the forward limit switch for a remote source. More...

virtual ctre::phoenix::ErrorCode	ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)
	Configures the reverse limit switch for a remote source. More...

void	OverrideLimitSwitchesEnable (bool enable)
	Sets the enable state for limit switches. More...

virtual ctre::phoenix::ErrorCode	ConfigForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)
	Configures a limit switch for a local/remote source. More...

virtual ctre::phoenix::ErrorCode	ConfigReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)
	Configures a limit switch for a local/remote source. More...

virtual ctre::phoenix::ErrorCode	ConfigForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs=0)
	Configures the forward soft limit threhold. More...

virtual ctre::phoenix::ErrorCode	ConfigReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs=0)
	Configures the reverse soft limit threshold. More...

virtual ctre::phoenix::ErrorCode	ConfigForwardSoftLimitEnable (bool enable, int timeoutMs=0)
	Configures the forward soft limit enable. More...

virtual ctre::phoenix::ErrorCode	ConfigReverseSoftLimitEnable (bool enable, int timeoutMs=0)
	Configures the reverse soft limit enable. More...

virtual void	OverrideSoftLimitsEnable (bool enable)
	Can be used to override-disable the soft limits. More...

virtual ctre::phoenix::ErrorCode	Config_kP (int slotIdx, double value, int timeoutMs=0)
	Sets the 'P' constant in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	Config_kI (int slotIdx, double value, int timeoutMs=0)
	Sets the 'I' constant in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	Config_kD (int slotIdx, double value, int timeoutMs=0)
	Sets the 'D' constant in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	Config_kF (int slotIdx, double value, int timeoutMs=0)
	Sets the 'F' constant in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	Config_IntegralZone (int slotIdx, double izone, int timeoutMs=0)
	Sets the Integral Zone constant in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	ConfigAllowableClosedloopError (int slotIdx, double allowableCloseLoopError, int timeoutMs=0)
	Sets the allowable closed-loop error in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	ConfigMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs=0)
	Sets the maximum integral accumulator in the given parameter slot. More...

virtual ctre::phoenix::ErrorCode	ConfigClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs=0)
	Sets the peak closed-loop output. More...

virtual ctre::phoenix::ErrorCode	ConfigClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs=0)
	Sets the loop time (in milliseconds) of the PID closed-loop calculations. More...

virtual ctre::phoenix::ErrorCode	ConfigAuxPIDPolarity (bool invert, int timeoutMs=0)
	Configures the Polarity of the Auxiliary PID (PID1). More...

ctre::phoenix::ErrorCode	ConfigureSlot (const SlotConfiguration &slot, int slotIdx, int timeoutMs)
	Configures all slot persistant settings. More...

virtual ctre::phoenix::ErrorCode	SetIntegralAccumulator (double iaccum, int pidIdx=0, int timeoutMs=0)
	Sets the integral accumulator. More...

virtual double	GetClosedLoopError (int pidIdx=0)
	Gets the closed-loop error. More...

virtual double	GetIntegralAccumulator (int pidIdx=0)
	Gets the iaccum value. More...

virtual double	GetErrorDerivative (int pidIdx=0)
	Gets the derivative of the closed-loop error. More...

virtual ctre::phoenix::ErrorCode	SelectProfileSlot (int slotIdx, int pidIdx)
	Selects which profile slot to use for closed-loop control. More...

virtual double	GetClosedLoopTarget (int pidIdx=0)
	Gets the current target of a given closed loop. More...

virtual double	GetActiveTrajectoryPosition (int pidIdx=0)
	Gets the active trajectory target position using MotionMagic/MotionProfile control modes. More...

virtual double	GetActiveTrajectoryVelocity (int pidIdx=0)
	Gets the active trajectory target velocity using MotionMagic/MotionProfile control modes. More...

virtual double	GetActiveTrajectoryArbFeedFwd (int pidIdx=0)
	Gets the active trajectory arbitrary feedforward using MotionMagic/MotionProfile control modes. More...

virtual ctre::phoenix::ErrorCode	ConfigMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs=0)
	Sets the Motion Magic Cruise Velocity. More...

virtual ctre::phoenix::ErrorCode	ConfigMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs=0)
	Sets the Motion Magic Acceleration. More...

virtual ctre::phoenix::ErrorCode	ConfigMotionSCurveStrength (int curveStrength, int timeoutMs=0)
	Sets the Motion Magic S Curve Strength. More...

virtual ErrorCode	ClearMotionProfileTrajectories ()
	Clear the buffered motion profile in both controller's RAM (bottom), and in the API (top). More...

virtual int	GetMotionProfileTopLevelBufferCount ()
	Retrieve just the buffer count for the api-level (top) buffer. More...

virtual ctre::phoenix::ErrorCode	PushMotionProfileTrajectory (const ctre::phoenix::motion::TrajectoryPoint &trajPt)
	Push another trajectory point into the top level buffer (which is emptied into the motor controller's bottom buffer as room allows). More...

virtual ctre::phoenix::ErrorCode	StartMotionProfile (ctre::phoenix::motion::BufferedTrajectoryPointStream &stream, uint32_t minBufferedPts, ControlMode motionProfControlMode)
	Simple one-shot firing of a complete MP. More...

virtual bool	IsMotionProfileFinished ()
	Determine if running MP is complete. More...

virtual bool	IsMotionProfileTopLevelBufferFull ()
	Retrieve just the buffer full for the api-level (top) buffer. More...

virtual void	ProcessMotionProfileBuffer ()
	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 ctre::phoenix::ErrorCode	GetMotionProfileStatus (ctre::phoenix::motion::MotionProfileStatus &statusToFill)
	Retrieve all status information. More...

virtual ctre::phoenix::ErrorCode	ClearMotionProfileHasUnderrun (int timeoutMs=0)
	Clear the "Has Underrun" flag. More...

virtual ctre::phoenix::ErrorCode	ChangeMotionControlFramePeriod (int periodMs)
	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 ctre::phoenix::ErrorCode	ConfigMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs=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 ctre::phoenix::ErrorCode	ConfigMotionProfileTrajectoryInterpolationEnable (bool enable, int timeoutMs=0)
	When trajectory points are processed in the buffer, the motor controller can linearly interpolate additional trajectory points between the buffered points. More...

virtual ErrorCode	ConfigFeedbackNotContinuous (bool feedbackNotContinuous, int timeoutMs=0)
	Disables continuous tracking of the position for analog and pulse-width. More...

virtual ErrorCode	ConfigRemoteSensorClosedLoopDisableNeutralOnLOS (bool remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs=0)
	Disables going to neutral (brake/coast) when a remote sensor is no longer detected. More...

virtual ErrorCode	ConfigClearPositionOnLimitF (bool clearPositionOnLimitF, int timeoutMs=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)
	Enables clearing the position of the feedback sensor when the reverse limit switch is triggered. More...

virtual ErrorCode	ConfigClearPositionOnQuadIdx (bool clearPositionOnQuadIdx, int timeoutMs=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)
	Disables limit switches triggering (if enabled) when the sensor is no longer detected. More...

virtual ErrorCode	ConfigSoftLimitDisableNeutralOnLOS (bool softLimitDisableNeutralOnLOS, int timeoutMs=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)
	Sets the edges per rotation of a pulse width sensor. More...

virtual ErrorCode	ConfigPulseWidthPeriod_FilterWindowSz (int pulseWidthPeriod_FilterWindowSz, int timeoutMs=0)
	Sets the number of samples to use in smoothing a pulse width sensor with a rolling average. More...

virtual ctre::phoenix::ErrorCode	GetLastError ()
	Gets the last error generated by this object. More...

virtual ctre::phoenix::ErrorCode	GetFaults (Faults &toFill)
	Polls the various fault flags. More...

virtual ctre::phoenix::ErrorCode	GetStickyFaults (StickyFaults &toFill)
	Polls the various sticky fault flags. More...

virtual ctre::phoenix::ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears all sticky faults. More...

virtual int	GetFirmwareVersion ()
	Gets the firmware version of the device. More...

virtual bool	HasResetOccurred ()
	Returns true if the device has reset since last call. More...

virtual ctre::phoenix::ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter. More...

virtual int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter. More...

virtual ctre::phoenix::ErrorCode	ConfigSetParameter (ctre::phoenix::ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter. More...

virtual double	ConfigGetParameter (ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter. More...

virtual ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)
	Gets a parameter by passing an int by reference. More...

virtual int	GetBaseID ()

virtual ControlMode	GetControlMode ()

void	Follow (IMotorController &masterToFollow, ctre::phoenix::motorcontrol::FollowerType followerType)
	Set the control mode and output value so that this motor controller will follow another motor controller. More...

virtual void	Follow (IMotorController &masterToFollow)
	Set the control mode and output value so that this motor controller will follow another motor controller. More...

virtual void	ValueUpdated ()
	When master makes a device, this routine is called to signal the update. More...

void	GetSlotConfigs (SlotConfiguration &slot, int slotIdx=0, int timeoutMs=50)
	Gets all slot persistant settings. More...

void	GetFilterConfigs (FilterConfiguration &Filter, int ordinal=0, int timeoutMs=50)
	Gets all filter persistant settings. More...

void *	GetHandle ()

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...

Static Public Member Functions
static void	DestroyAllMotControllers ()
	Destructs all motor controller objects. More...

Protected Member Functions
ctre::phoenix::motorcontrol::VictorSPXSimCollection &	GetVictorSPXSimCollection ()

virtual ctre::phoenix::ErrorCode	BaseConfigAllSettings (const BaseMotorControllerConfiguration &allConfigs, int timeoutMs)
	Configures all base persistant settings. More...

virtual void	BaseGetAllConfigs (BaseMotorControllerConfiguration &allConfigs, int timeoutMs)
	Gets all base persistant settings. More...

virtual void	BaseGetPIDConfigs (BasePIDSetConfiguration &pid, int pidIdx, int timeoutMs)
	Gets all base PID set persistant settings. More...

virtual double	GetOutputCurrent ()
	Gets the output current of the motor controller. More...

Detailed Description

Base motor controller features for all CTRE CAN motor controllers.

Constructor & Destructor Documentation

◆ BaseMotorController() [1/3]

ctre::phoenix::motorcontrol::can::BaseMotorController::BaseMotorController	(	int	deviceNumber,
		const char *	model,
		std::string const &	canbus = `""`
	)

Constructor for motor controllers.

Parameters

arbId	Device ID [0,62]
model	String model of device. Examples: "Talon SRX", "Talon FX", "Victor SPX".
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

◆ ~BaseMotorController()

virtual ctre::phoenix::motorcontrol::can::BaseMotorController::~BaseMotorController ( )

virtual

◆ BaseMotorController() [2/3]

ctre::phoenix::motorcontrol::can::BaseMotorController::BaseMotorController ( )

delete

◆ BaseMotorController() [3/3]

ctre::phoenix::motorcontrol::can::BaseMotorController::BaseMotorController ( BaseMotorController const & )

delete

Member Function Documentation

◆ BaseConfigAllSettings()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::BaseConfigAllSettings	(	const BaseMotorControllerConfiguration &	allConfigs,
		int	timeoutMs
	)

protectedvirtual

Configures all base persistant settings.

Parameters

allConfigs	Object with all of the base persistant settings
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 generated by function. 0 indicates no error.

◆ BaseGetAllConfigs()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::BaseGetAllConfigs	(	BaseMotorControllerConfiguration &	allConfigs,
		int	timeoutMs
	)

protectedvirtual

Gets all base persistant settings.

Parameters

allConfigs	Object with all of the base persistant settings
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.

◆ BaseGetPIDConfigs()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::BaseGetPIDConfigs	(	BasePIDSetConfiguration &	pid,
		int	pidIdx,
		int	timeoutMs
	)

protectedvirtual

Gets all base PID set persistant settings.

Parameters

pid	Object with all of the base PID set persistant settings
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.

◆ ChangeMotionControlFramePeriod()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ChangeMotionControlFramePeriod ( int periodMs )

virtual

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.

Ideally the period should be no more than half the period of a trajectory point.

Parameters

periodMs The transmit period in ms.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ClearMotionProfileHasUnderrun()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ClearMotionProfileHasUnderrun ( int timeoutMs = 0 )

virtual

Clear the "Has Underrun" flag.

Typically this is called after application has confirmed an underrun had occured.

Parameters

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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ClearMotionProfileTrajectories()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ClearMotionProfileTrajectories ( )

virtual

Clear the buffered motion profile in both controller's RAM (bottom), and in the API (top).

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ClearStickyFaults()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ClearStickyFaults ( int timeoutMs = 0 )

virtual

Clears all sticky faults.

Parameters

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: Last Error Code generated by a function.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Config_IntegralZone()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::Config_IntegralZone	(	int	slotIdx,
		double	izone,
		int	timeoutMs = `0`
	)

virtual

Sets the Integral Zone constant in the given parameter slot.

If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared. This ensures than integral wind up events will stop after the sensor gets far enough from its target.

Parameters

slotIdx	Parameter slot for the constant.
izone	Value of the Integral Zone constant (closed loop error units X 1ms).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Config_kD()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::Config_kD	(	int	slotIdx,
		double	value,
		int	timeoutMs = `0`
	)

virtual

Sets the 'D' constant in the given parameter slot.

This is multiplied by derivative error (sensor units per PID loop, typically 1ms). Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)

Parameters

slotIdx	Parameter slot for the constant.
value	Value of the D constant.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Config_kF()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::Config_kF	(	int	slotIdx,
		double	value,
		int	timeoutMs = `0`
	)

virtual

Sets the 'F' constant in the given parameter slot.

See documentation for calculation details. If using velocity, motion magic, or motion profile, use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).

Parameters

slotIdx	Parameter slot for the constant.
value	Value of the F constant.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Config_kI()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::Config_kI	(	int	slotIdx,
		double	value,
		int	timeoutMs = `0`
	)

virtual

Sets the 'I' constant in the given parameter slot.

This is multiplied by accumulated closed loop error in sensor units every PID Loop. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000), [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].

Parameters

slotIdx	Parameter slot for the constant.
value	Value of the I constant.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Config_kP()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::Config_kP	(	int	slotIdx,
		double	value,
		int	timeoutMs = `0`
	)

virtual

Sets the 'P' constant in the given parameter slot.

This is multiplied by closed loop error in sensor units. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)

Parameters

slotIdx	Parameter slot for the constant.
value	Value of the P constant.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigAllowableClosedloopError()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigAllowableClosedloopError	(	int	slotIdx,
		double	allowableCloseLoopError,
		int	timeoutMs = `0`
	)

virtual

Sets the allowable closed-loop error in the given parameter slot.

Parameters

slotIdx	Parameter slot for the constant.
allowableCloseLoopError	Value of the allowable closed-loop error in sensor units (or sensor units per 100ms for velocity).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigAuxPIDPolarity()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigAuxPIDPolarity	(	bool	invert,
		int	timeoutMs = `0`
	)

virtual

Configures the Polarity of the Auxiliary PID (PID1).

Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1,

Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,

Parameters

invert	If true, use inverted PID1 output polarity.
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

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigClearPositionOnLimitF()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigClearPositionOnLimitF	(	bool	clearPositionOnLimitF,
		int	timeoutMs = `0`
	)

virtual

Enables clearing the position of the feedback sensor when the forward limit switch is triggered.

Parameters

clearPositionOnLimitF	Whether clearing is enabled, defaults false
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigClearPositionOnLimitR()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigClearPositionOnLimitR	(	bool	clearPositionOnLimitR,
		int	timeoutMs = `0`
	)

virtual

Enables clearing the position of the feedback sensor when the reverse limit switch is triggered.

Parameters

clearPositionOnLimitR	Whether clearing is enabled, defaults false
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigClearPositionOnQuadIdx()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigClearPositionOnQuadIdx	(	bool	clearPositionOnQuadIdx,
		int	timeoutMs = `0`
	)

virtual

Enables clearing the position of the feedback sensor when the quadrature index signal is detected.

Parameters

clearPositionOnQuadIdx	Whether clearing is enabled, defaults false
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigClosedLoopPeakOutput()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigClosedLoopPeakOutput	(	int	slotIdx,
		double	percentOut,
		int	timeoutMs = `0`
	)

virtual

Sets the peak closed-loop output.

This peak output is slot-specific and is applied to the output of the associated PID loop. This setting is seperate from the generic Peak Output setting.

Parameters

slotIdx	Parameter slot for the constant.
percentOut	Peak Percent Output from 0 to 1. This value is absolute and the magnitude will apply in both forward and reverse directions.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigClosedLoopPeriod()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigClosedLoopPeriod	(	int	slotIdx,
		int	loopTimeMs,
		int	timeoutMs = `0`
	)

virtual

Sets the loop time (in milliseconds) of the PID closed-loop calculations.

Default value is 1 ms.

Parameters

slotIdx	Parameter slot for the constant.
loopTimeMs	Loop timing of the closed-loop calculations. Minimum value of 1 ms, maximum of 64 ms.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigClosedloopRamp()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigClosedloopRamp	(	double	secondsFromNeutralToFull,
		int	timeoutMs = `0`
	)

virtual

Configures the closed-loop ramp rate of throttle output.

Parameters

secondsFromNeutralToFull	Minimum desired time to go from neutral to full throttle. A value of '0' will disable the ramp.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigFactoryDefault()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigFactoryDefault ( int timeoutMs = 50 )

virtual

Revert all configurations to factory default values.

Use this before your individual config* calls to avoid having to config every single param.

Alternatively you can use the configAllSettings routine.

Parameters

timeoutMs Timeout value in ms. Function will generate error if config is not successful within timeout.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigFeedbackNotContinuous()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigFeedbackNotContinuous	(	bool	feedbackNotContinuous,
		int	timeoutMs = `0`
	)

virtual

Disables continuous tracking of the position for analog and pulse-width.

If the signal goes from 4095 to 0 (pulse-width) a motor controller will continue to read 4096 by default. If overflow tracking is disabled, it will wrap to 0 (not continuous)

If using pulse-width on CTRE Mag Encoder (within one rotation) or absolute analog sensor (within one rotation), setting feedbackNotContinuous to true is recommended, to prevent intermittent connections from causing sensor "jumps" of 4096 (or 1024 for analog) units.

Parameters

feedbackNotContinuous	True to disable the overflow tracking.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigForwardLimitSwitchSource() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigForwardLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = `0`
	)

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

type	Limit switch source. User can choose between the feedback connector, 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.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigForwardLimitSwitchSource() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigForwardLimitSwitchSource	(	RemoteLimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = `0`
	)

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.

Parameters

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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigForwardSoftLimitEnable()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigForwardSoftLimitEnable	(	bool	enable,
		int	timeoutMs = `0`
	)

virtual

Configures the forward soft limit enable.

Parameters

enable	Forward Sensor Position Limit Enable.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigForwardSoftLimitThreshold()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigForwardSoftLimitThreshold	(	double	forwardSensorLimit,
		int	timeoutMs = `0`
	)

virtual

Configures the forward soft limit threhold.

Parameters

forwardSensorLimit	Forward Sensor Position Limit (in raw sensor units).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigGetCustomParam()

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigGetCustomParam	(	int	paramIndex,
		int	timeoutMs = `0`
	)

virtual

Gets the value of a custom parameter.

Parameters

paramIndex	Index of custom parameter [0,1].
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: Value of the custom param.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigGetParameter() [1/2]

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigGetParameter	(	ctre::phoenix::ParamEnum	param,
		int	ordinal,
		int	timeoutMs = `0`
	)

virtual

Gets a parameter.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
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: Value of parameter.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigGetParameter() [2/2]

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigGetParameter	(	ParamEnum	param,
		int32_t	valueToSend,
		int32_t &	valueReceived,
		uint8_t &	subValue,
		int32_t	ordinal,
		int32_t	timeoutMs
	)

virtual

Gets a parameter by passing an int by reference.

Parameters

param	Parameter enumeration
valueToSend	Value to send to parameter
valueReceived	Reference to integer to receive
subValue	SubValue of parameter
ordinal	Ordinal of parameter
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 generated by function. 0 indicates no error.

◆ ConfigLimitSwitchDisableNeutralOnLOS()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigLimitSwitchDisableNeutralOnLOS	(	bool	limitSwitchDisableNeutralOnLOS,
		int	timeoutMs = `0`
	)

virtual

Disables limit switches triggering (if enabled) when the sensor is no longer detected.

Parameters

limitSwitchDisableNeutralOnLOS	disable triggering
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigMaxIntegralAccumulator()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigMaxIntegralAccumulator	(	int	slotIdx,
		double	iaccum,
		int	timeoutMs = `0`
	)

virtual

Sets the maximum integral accumulator in the given parameter slot.

Parameters

slotIdx	Parameter slot for the constant.
iaccum	Value of the maximum integral accumulator (closed loop error units X 1ms).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigMotionAcceleration()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigMotionAcceleration	(	double	sensorUnitsPer100msPerSec,
		int	timeoutMs = `0`
	)

virtual

Sets the Motion Magic Acceleration.

This is the target acceleration that the motion magic curve generator can use.

Parameters

sensorUnitsPer100msPerSec	Motion Magic Acceleration (in raw sensor units per 100 ms per second).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigMotionCruiseVelocity()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigMotionCruiseVelocity	(	double	sensorUnitsPer100ms,
		int	timeoutMs = `0`
	)

virtual

Sets the Motion Magic Cruise Velocity.

This is the peak target velocity that the motion magic curve generator can use.

Parameters

sensorUnitsPer100ms	Motion Magic Cruise Velocity (in raw sensor units per 100 ms).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigMotionProfileTrajectoryInterpolationEnable()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigMotionProfileTrajectoryInterpolationEnable	(	bool	enable,
		int	timeoutMs = `0`
	)

virtual

When trajectory points are processed in the buffer, the motor controller can linearly interpolate additional trajectory points between the buffered points.

The time delta between these interpolated points is 1 ms.

By default this feature is enabled.

Parameters

enable	Whether to enable the trajectory point interpolation feature.
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 generated by function. 0 indicates no error.

◆ ConfigMotionProfileTrajectoryPeriod()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigMotionProfileTrajectoryPeriod	(	int	baseTrajDurationMs,
		int	timeoutMs = `0`
	)

virtual

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).

This allows general selection of the execution rate of the points with 1ms resolution, while allowing some degree of change from point to point.

Parameters

baseTrajDurationMs	The base duration time of every trajectory point. This is summed with the trajectory points unique timeDur.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigMotionSCurveStrength()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigMotionSCurveStrength	(	int	curveStrength,
		int	timeoutMs = `0`
	)

virtual

Sets the Motion Magic S Curve Strength.

Call this before using Motion Magic. Modifying this during a Motion Magic action should be avoided.

Parameters

curveStrength	0 to use Trapezoidal Motion Profile. [1,8] for S-Curve (greater value yields greater smoothing).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigNeutralDeadband()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigNeutralDeadband	(	double	percentDeadband,
		int	timeoutMs = `0`
	)

virtual

Configures the output deadband percentage.

Parameters

percentDeadband	Desired deadband percentage. Minimum is 0.1%, Maximum is 25%. Pass 0.04 for 4% (factory default).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigNominalOutputForward()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigNominalOutputForward	(	double	percentOut,
		int	timeoutMs = `0`
	)

virtual

Configures the forward nominal output percentage.

Parameters

percentOut	Nominal (minimum) percent output. [0,+1]
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigNominalOutputReverse()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigNominalOutputReverse	(	double	percentOut,
		int	timeoutMs = `0`
	)

virtual

Configures the reverse nominal output percentage.

Parameters

percentOut	Nominal (minimum) percent output. [-1,0]
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigOpenloopRamp()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigOpenloopRamp	(	double	secondsFromNeutralToFull,
		int	timeoutMs = `0`
	)

virtual

Configures the open-loop ramp rate of throttle output.

Parameters

secondsFromNeutralToFull	Minimum desired time to go from neutral to full throttle. A value of '0' will disable the ramp.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigPeakOutputForward()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigPeakOutputForward	(	double	percentOut,
		int	timeoutMs = `0`
	)

virtual

Configures the forward peak output percentage.

Parameters

percentOut	Desired peak output percentage. [0,1]
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigPeakOutputReverse()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigPeakOutputReverse	(	double	percentOut,
		int	timeoutMs = `0`
	)

virtual

Configures the reverse peak output percentage.

Parameters

percentOut	Desired peak output percentage.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigPulseWidthPeriod_EdgesPerRot()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigPulseWidthPeriod_EdgesPerRot	(	int	pulseWidthPeriod_EdgesPerRot,
		int	timeoutMs = `0`
	)

virtual

Sets the edges per rotation of a pulse width sensor.

(This should be set for tachometer use).

Parameters

pulseWidthPeriod_EdgesPerRot	edges per rotation
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigPulseWidthPeriod_FilterWindowSz()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigPulseWidthPeriod_FilterWindowSz	(	int	pulseWidthPeriod_FilterWindowSz,
		int	timeoutMs = `0`
	)

virtual

Sets the number of samples to use in smoothing a pulse width sensor with a rolling average.

Default is 1 (no smoothing).

Parameters

pulseWidthPeriod_FilterWindowSz	samples for rolling avg
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigRemoteFeedbackFilter() [1/3]

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigRemoteFeedbackFilter	(	ctre::phoenix::motorcontrol::can::BaseTalon &	talonRef,
		int	remoteOrdinal,
		int	timeoutMs = `0`
	)

virtual

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.

After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

Parameters

talonRef	Talon device reference to use.
remoteOrdinal	0 for configuring Remote Sensor 0, 1 for configuring Remote Sensor 1
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigRemoteFeedbackFilter() [2/3]

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigRemoteFeedbackFilter	(	ctre::phoenix::sensors::CANCoder &	canCoderRef,
		int	remoteOrdinal,
		int	timeoutMs = `0`
	)

virtual

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.

After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

Parameters

canCoderRef	CANCoder device reference to use.
remoteOrdinal	0 for configuring Remote Sensor 0, 1 for configuring Remote Sensor 1
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigRemoteFeedbackFilter() [3/3]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigRemoteFeedbackFilter	(	int	deviceID,
		RemoteSensorSource	remoteSensorSource,
		int	remoteOrdinal,
		int	timeoutMs = `0`
	)

virtual

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.

After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

Parameters

deviceID	The device ID of the remote sensor device.
remoteSensorSource	The remote sensor device and signal type to bind.
remoteOrdinal	0 for configuring Remote Sensor 0, 1 for configuring Remote Sensor 1
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigRemoteSensorClosedLoopDisableNeutralOnLOS()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigRemoteSensorClosedLoopDisableNeutralOnLOS	(	bool	remoteSensorClosedLoopDisableNeutralOnLOS,
		int	timeoutMs = `0`
	)

virtual

Disables going to neutral (brake/coast) when a remote sensor is no longer detected.

Parameters

remoteSensorClosedLoopDisableNeutralOnLOS	disable going to neutral
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigReverseLimitSwitchSource() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigReverseLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = `0`
	)

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

type	Limit switch source. User can choose between the feedback connector, 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.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigReverseLimitSwitchSource() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigReverseLimitSwitchSource	(	RemoteLimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = `0`
	)

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.

Parameters

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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigReverseSoftLimitEnable()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigReverseSoftLimitEnable	(	bool	enable,
		int	timeoutMs = `0`
	)

virtual

Configures the reverse soft limit enable.

Parameters

enable	Reverse Sensor Position Limit Enable.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigReverseSoftLimitThreshold()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigReverseSoftLimitThreshold	(	double	reverseSensorLimit,
		int	timeoutMs = `0`
	)

virtual

Configures the reverse soft limit threshold.

Parameters

reverseSensorLimit	Reverse Sensor Position Limit (in raw sensor units).
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigSelectedFeedbackCoefficient()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSelectedFeedbackCoefficient	(	double	coefficient,
		int	pidIdx = `0`,
		int	timeoutMs = `0`
	)

virtual

The Feedback Coefficient is a scalar applied to the value of the feedback sensor.

Useful when you need to scale your sensor values within the closed-loop calculations. Default value is 1.

Selected Feedback Sensor register in firmware is the decoded sensor value multiplied by the Feedback Coefficient.

Parameters

coefficient	Feedback Coefficient value. Maximum value of 1. Resolution is 1/(2^16). Cannot be 0.
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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigSelectedFeedbackSensor() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSelectedFeedbackSensor	(	FeedbackDevice	feedbackDevice,
		int	pidIdx = `0`,
		int	timeoutMs = `0`
	)

virtual

Select the feedback device for the motor controller.

Parameters

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.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented 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.

◆ ConfigSelectedFeedbackSensor() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSelectedFeedbackSensor	(	RemoteFeedbackDevice	feedbackDevice,
		int	pidIdx = `0`,
		int	timeoutMs = `0`
	)

virtual

Select the remote feedback device for the motor controller.

Most CTRE CAN motor controllers will support remote sensors over CAN.

Parameters

feedbackDevice	Remote 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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::BaseTalon, ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonSRX, and ctre::phoenix::motorcontrol::can::WPI_VictorSPX.

◆ ConfigSensorTerm() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSensorTerm	(	SensorTerm	sensorTerm,
		FeedbackDevice	feedbackDevice,
		int	timeoutMs = `0`
	)

virtual

Select what sensor term should be bound to switch feedback device.

Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1 Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1 The four terms are specified with this routine. Then Sensor Sum/Difference can be selected for closed-looping.

Parameters

sensorTerm	Which sensor term to bind to a feedback source.
feedbackDevice	The sensor signal to attach to sensorTerm.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigSensorTerm() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSensorTerm	(	SensorTerm	sensorTerm,
		RemoteFeedbackDevice	feedbackDevice,
		int	timeoutMs = `0`
	)

virtual

Select what sensor term should be bound to switch feedback device.

Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1 Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1 The four terms are specified with this routine. Then Sensor Sum/Difference can be selected for closed-looping.

Parameters

sensorTerm	Which sensor term to bind to a feedback source.
feedbackDevice	The sensor signal to attach to sensorTerm.
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 generated by function. 0 indicates no error.

◆ ConfigSetCustomParam()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs = `0`
	)

virtual

Sets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/limit/target information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter [0,1]
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigSetParameter()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSetParameter	(	ctre::phoenix::ParamEnum	param,
		double	value,
		uint8_t	subValue,
		int	ordinal,
		int	timeoutMs = `0`
	)

virtual

Sets a parameter.

Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigSoftLimitDisableNeutralOnLOS()

virtual ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigSoftLimitDisableNeutralOnLOS	(	bool	softLimitDisableNeutralOnLOS,
		int	timeoutMs = `0`
	)

virtual

Disables soft limits triggering (if enabled) when the sensor is no longer detected.

Parameters

softLimitDisableNeutralOnLOS	disable triggering
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigureSlot()

ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigureSlot	(	const SlotConfiguration &	slot,
		int	slotIdx,
		int	timeoutMs
	)

Configures all slot persistant settings.

Parameters

slot	Object with all of the slot persistant settings
slotIdx	Index of slot to configure
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 generated by function. 0 indicates no error.

◆ ConfigVelocityMeasurementPeriod() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigVelocityMeasurementPeriod	(	ctre::phoenix::sensors::SensorVelocityMeasPeriod	period,
		int	timeoutMs = `0`
	)

virtual

Sets the period over which velocity measurements are taken.

Parameters

period Desired period for the velocity measurement.

See also: #SensorVelocityMeasPeriod

Parameters

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 generated by function. 0 indicates no error.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigVelocityMeasurementPeriod() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigVelocityMeasurementPeriod	(	VelocityMeasPeriod	period,
		int	timeoutMs = `0`
	)

virtual

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigVelocityMeasurementWindow()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs = `0`
	)

virtual

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

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.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigVoltageCompSaturation()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigVoltageCompSaturation	(	double	voltage,
		int	timeoutMs = `0`
	)

virtual

Configures the Voltage Compensation saturation voltage.

Parameters

voltage	This is the max voltage to apply to the hbridge when voltage compensation is enabled. For example, if 10 (volts) is specified and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc) then the TalonSRX will attempt to apply a duty-cycle to produce 5V.
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 generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ConfigVoltageMeasurementFilter()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::ConfigVoltageMeasurementFilter	(	int	filterWindowSamples,
		int	timeoutMs = `0`
	)

virtual

Configures the voltage measurement filter.

Parameters

filterWindowSamples	Number of samples in the rolling average of voltage 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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ DestroyAllMotControllers()

static void ctre::phoenix::motorcontrol::can::BaseMotorController::DestroyAllMotControllers ( )

static

Destructs all motor controller objects.

◆ EnableVoltageCompensation()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::EnableVoltageCompensation ( bool enable )

virtual

Enables voltage compensation.

If enabled, voltage compensation works in all control modes.

Be sure to configure the saturation voltage before enabling this.

Parameters

enable Enable state of voltage compensation.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Follow() [1/2]

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::Follow ( IMotorController & masterToFollow )

virtual

Set the control mode and output value so that this motor controller will follow another motor controller.

Currently supports following Victor SPX, Talon SRX, and Talon FX.

Implements ctre::phoenix::motorcontrol::IFollower.

◆ Follow() [2/2]

void ctre::phoenix::motorcontrol::can::BaseMotorController::Follow	(	IMotorController &	masterToFollow,
		ctre::phoenix::motorcontrol::FollowerType	followerType
	)

Set the control mode and output value so that this motor controller will follow another motor controller.

Currently supports following Victor SPX, Talon SRX, and Talon FX.

Parameters

masterToFollow	Motor Controller object to follow.
followerType	Type of following control. Use AuxOutput1 to follow the master device's auxiliary output 1. Use PercentOutput for standard follower mode.

◆ GetActiveTrajectoryArbFeedFwd()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetActiveTrajectoryArbFeedFwd ( int pidIdx = 0 )

virtual

Gets the active trajectory arbitrary feedforward using MotionMagic/MotionProfile control modes.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: The Active Trajectory ArbFeedFwd in units of percent output (where 0.01 is 1%).

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetActiveTrajectoryPosition()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetActiveTrajectoryPosition ( int pidIdx = 0 )

virtual

Gets the active trajectory target position using MotionMagic/MotionProfile control modes.

Returns: The Active Trajectory Position in sensor units.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetActiveTrajectoryVelocity()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetActiveTrajectoryVelocity ( int pidIdx = 0 )

virtual

Gets the active trajectory target velocity using MotionMagic/MotionProfile control modes.

Returns: The Active Trajectory Velocity in sensor units per 100ms.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetBaseID()

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::GetBaseID ( )

virtual

Returns: BaseID of device

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetBusVoltage()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetBusVoltage ( )

virtual

Gets the bus voltage seen by the device.

Returns: The bus voltage value (in volts).

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetClosedLoopError()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetClosedLoopError ( int pidIdx = 0 )

virtual

Gets the closed-loop error.

The units depend on which control mode is in use.

If closed-loop is seeking a target sensor position, closed-loop error is the difference between target and current sensor value (in sensor units. Example 4096 units per rotation for CTRE Mag Encoder).

If closed-loop is seeking a target sensor velocity, closed-loop error is the difference between target and current sensor value (in sensor units per 100ms).

If using motion profiling or Motion Magic, closed loop error is calculated against the current target, and not the "final" target at the end of the profile/movement.

See Phoenix-Documentation information on units.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: Closed-loop error value.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetClosedLoopTarget()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetClosedLoopTarget ( int pidIdx = 0 )

virtual

Gets the current target of a given closed loop.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: The closed loop target.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetControlMode()

virtual ControlMode ctre::phoenix::motorcontrol::can::BaseMotorController::GetControlMode ( )

virtual

Returns: control mode motor controller is in

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetDeviceID()

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::GetDeviceID ( )

virtual

Returns the Device ID.

Returns: Device number.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetErrorDerivative()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetErrorDerivative ( int pidIdx = 0 )

virtual

Gets the derivative of the closed-loop error.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: The error derivative value.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetFaults()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::GetFaults ( Faults & toFill )

virtual

Polls the various fault flags.

Parameters

toFill Caller's object to fill with latest fault flags.

Returns: Last Error Code generated by a function.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetFilterConfigs()

void ctre::phoenix::motorcontrol::can::BaseMotorController::GetFilterConfigs	(	FilterConfiguration &	Filter,
		int	ordinal = `0`,
		int	timeoutMs = `50`
	)

Gets all filter persistant settings.

Parameters

Filter	Object with all of the filter persistant settings
ordinal	0 for remote sensor 0 and 1 for remote sensor 1.
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.

◆ GetFirmwareVersion()

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::GetFirmwareVersion ( )

virtual

Gets the firmware version of the device.

Returns: Firmware version of device. For example: version 1-dot-2 is 0x0102.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetHandle()

void * ctre::phoenix::motorcontrol::can::BaseMotorController::GetHandle ( )

Returns: CCI handle for child classes.

◆ GetIntegralAccumulator()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetIntegralAccumulator ( int pidIdx = 0 )

virtual

Gets the iaccum value.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: Integral accumulator value (Closed-loop error X 1ms).

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetInverted()

virtual bool ctre::phoenix::motorcontrol::can::BaseMotorController::GetInverted ( ) const

virtual

Returns: invert setting of motor output.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::WPI_BaseMotorController.

◆ GetLastError()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::GetLastError ( )

virtual

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.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetMotionProfileStatus()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::GetMotionProfileStatus ( ctre::phoenix::motion::MotionProfileStatus & statusToFill )

virtual

Retrieve all status information.

For best performance, Caller can snapshot all status information regarding the motion profile executer.

Parameters

statusToFill Caller supplied object to fill.

The members are filled, as follows...

topBufferRem: The available empty slots in the trajectory buffer. The robot API holds a "top buffer" of trajectory points, so your applicaion can dump several points at once. The API will then stream them into the low-level buffer, allowing the motor controller to act on them.

topBufferRem: The number of points in the top trajectory buffer.

btmBufferCnt: The number of points in the low level controller buffer.

hasUnderrun: Set if isUnderrun ever gets set. Can be manually cleared by ClearMotionProfileHasUnderrun() or automatically cleared by StartMotionProfile().

isUnderrun: This is set if controller needs to shift a point from its buffer into the active trajectory point however the buffer is empty. This gets cleared automatically when is resolved.

activePointValid: True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.

isLast: is set/cleared based on the MP executer's current trajectory point's IsLast value. This assumes IsLast was set when PushMotionProfileTrajectory was used to insert the currently processed trajectory point.

profileSlotSelect: The currently processed trajectory point's selected slot. This can differ in the currently selected slot used for Position and Velocity servo modes

outputEnable: The current output mode of the motion profile executer (disabled, enabled, or hold). When changing the set() value in MP mode, it's important to check this signal to confirm the change takes effect before interacting with the top buffer.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetMotionProfileTopLevelBufferCount()

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::GetMotionProfileTopLevelBufferCount ( )

virtual

Retrieve just the buffer count for the api-level (top) buffer.

This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll the progress of trajectory points being emptied into controller's RAM. Otherwise just use GetMotionProfileStatus.

Returns: number of trajectory points in the top buffer.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetMotorOutputPercent()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetMotorOutputPercent ( )

virtual

Gets the output percentage of the motor controller.

Returns: Output of the motor controller (in percent).

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetMotorOutputVoltage()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetMotorOutputVoltage ( )

virtual

Returns: applied voltage to motor in volts.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetOutputCurrent()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetOutputCurrent ( )

protectedvirtual

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.")]]

Returns: The output current (in amps).

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ GetSelectedSensorPosition()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetSelectedSensorPosition ( int pidIdx = 0 )

virtual

Get the selected sensor position (in raw sensor units).

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop. See Phoenix-Documentation for how to interpret.

Returns: Position of selected sensor (in raw sensor units).

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetSelectedSensorVelocity()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetSelectedSensorVelocity ( int pidIdx = 0 )

virtual

Get the selected sensor velocity.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: selected sensor (in raw sensor units) per 100ms. See Phoenix-Documentation for how to interpret.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetSlotConfigs()

void ctre::phoenix::motorcontrol::can::BaseMotorController::GetSlotConfigs	(	SlotConfiguration &	slot,
		int	slotIdx = `0`,
		int	timeoutMs = `50`
	)

Gets all slot persistant settings.

Parameters

slot	Object with all of the slot persistant settings
slotIdx	Parameter slot for the constant.
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.

◆ GetStatusFramePeriod() [1/2]

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::GetStatusFramePeriod	(	StatusFrame	frame,
		int	timeoutMs = `0`
	)

virtual

Gets the period of the given status frame.

Parameters

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.

Returns: Period of the given status frame.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ GetStatusFramePeriod() [2/2]

virtual int ctre::phoenix::motorcontrol::can::BaseMotorController::GetStatusFramePeriod	(	StatusFrameEnhanced	frame,
		int	timeoutMs = `0`
	)

virtual

Gets the period of the given status frame.

Parameters

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.

Returns: Period of the given status frame.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ GetStickyFaults()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::GetStickyFaults ( StickyFaults & toFill )

virtual

Polls the various sticky fault flags.

Parameters

toFill Caller's object to fill with latest sticky fault flags.

Returns: Last Error Code generated by a function.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetTemperature()

virtual double ctre::phoenix::motorcontrol::can::BaseMotorController::GetTemperature ( )

virtual

Gets the temperature of the motor controller.

Returns: Temperature of the motor controller (in 'C)

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ GetVictorSPXSimCollection()

ctre::phoenix::motorcontrol::VictorSPXSimCollection & ctre::phoenix::motorcontrol::can::BaseMotorController::GetVictorSPXSimCollection ( )

inlineprotected

◆ HasResetOccurred()

virtual bool ctre::phoenix::motorcontrol::can::BaseMotorController::HasResetOccurred ( )

virtual

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ IsMotionProfileFinished()

virtual bool ctre::phoenix::motorcontrol::can::BaseMotorController::IsMotionProfileFinished ( )

virtual

Determine if running MP is complete.

This requires using the StartMotionProfile routine to start the MP. That is because managing the trajectory points is now done in a background thread (if StartMotionProfile is called).

If calling application uses the legacy API (more-complex buffering API) from previous years, than this API will not return true.

Returns: true if MP was started using StartMotionProfile, and it has completed execution (MPE is now in "hold").

◆ IsMotionProfileTopLevelBufferFull()

virtual bool ctre::phoenix::motorcontrol::can::BaseMotorController::IsMotionProfileTopLevelBufferFull ( )

virtual

Retrieve just the buffer full for the api-level (top) buffer.

This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll. Otherwise just use GetMotionProfileStatus.

Returns: number of trajectory points in the top buffer.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ IsVoltageCompensationEnabled()

virtual bool ctre::phoenix::motorcontrol::can::BaseMotorController::IsVoltageCompensationEnabled ( )

virtual

Returns the enable state of Voltage Compensation that the caller has set.

Returns: TRUE if voltage compensation is enabled.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ NeutralOutput()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::NeutralOutput ( )

virtual

Neutral the motor output by setting control mode to disabled.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ operator=()

BaseMotorController & ctre::phoenix::motorcontrol::can::BaseMotorController::operator= ( BaseMotorController const & )

delete

◆ OverrideLimitSwitchesEnable()

void ctre::phoenix::motorcontrol::can::BaseMotorController::OverrideLimitSwitchesEnable ( bool enable )

virtual

Sets the enable state for limit switches.

Parameters

enable Enable state for limit switches.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ OverrideSoftLimitsEnable()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::OverrideSoftLimitsEnable ( bool enable )

virtual

Can be used to override-disable the soft limits.

This function can be used to quickly disable soft limits without having to modify the persistent configuration.

Parameters

enable Enable state for soft limit switches.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ ProcessMotionProfileBuffer()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::ProcessMotionProfileBuffer ( )

virtual

This must be called periodically to funnel the trajectory points from the API's top level buffer to the controller's bottom level buffer.

Recommendation is to call this twice as fast as the execution rate of the motion profile. So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe through the use of a mutex, so there is no harm in having the caller utilize threading.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ PushMotionProfileTrajectory()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::PushMotionProfileTrajectory ( const ctre::phoenix::motion::TrajectoryPoint & trajPt )

virtual

Push another trajectory point into the top level buffer (which is emptied into the motor controller's bottom buffer as room allows).

Parameters

trajPt

to push into buffer. The members should be filled in with these values...

targPos: servo position in sensor units.
targVel: velocity to feed-forward in sensor units
per 100ms.
profileSlotSelect0 Which slot to get PIDF gains. PID is used for position servo. F is used
as the Kv constant for velocity feed-forward. Typically this is hardcoded
to the a particular slot, but you are free gain schedule if need be.
Choose from [0,3]
profileSlotSelect1 Which slot to get PIDF gains for auxiliary PId.
This only has impact during MotionProfileArc Control mode.
Choose from [0,1].
isLastPoint set to nonzero to signal motor controller to keep processing this
trajectory point, instead of jumping to the next one
when timeDurMs expires. Otherwise MP executer will
eventually see an empty buffer after the last point
expires, causing it to assert the IsUnderRun flag.
However this may be desired if calling application
never wants to terminate the MP.
zeroPos set to nonzero to signal motor controller to "zero" the selected
position sensor before executing this trajectory point.
Typically the first point should have this set only thus
allowing the remainder of the MP positions to be relative to
zero.
timeDur Duration to apply this trajectory pt.
This time unit is ADDED to the exising base time set by
configMotionProfileTrajectoryPeriod().

Returns: CTR_OKAY if trajectory point push ok. ErrorCode if buffer is full due to kMotionProfileTopBufferCapacity.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ SelectProfileSlot()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::SelectProfileSlot	(	int	slotIdx,
		int	pidIdx
	)

virtual

Selects which profile slot to use for closed-loop control.

Parameters

slotIdx	Profile slot to select.
pidIdx	0 for Primary closed-loop. 1 for auxiliary closed-loop.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ Set() [1/2]

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::Set	(	ControlMode	mode,
		double	demand0,
		DemandType	demand1Type,
		double	demand1
	)

virtual

Parameters

mode	Sets the appropriate output on the talon, depending on the mode.
demand0	The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See In Follower mode, the output value is the integer device ID of the talon to duplicate.
demand1Type	The demand type for demand1. Neutral: Ignore demand1 and apply no change to the demand0 output. AuxPID: Use demand1 to set the target for the auxiliary PID 1. Auxiliary PID is always executed as standard Position PID control. ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the demand0 output. In PercentOutput the demand0 output is the motor output, and in closed-loop modes the demand0 output is the output of PID0.
demand1	Supplmental output value. AuxPID: Target position in Sensor Units ArbitraryFeedForward: Percent Output between -1.0 and 1.0

Arcade Drive Example: _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn);

Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading);

Drive Straight to a Distance Example: Note: Other configurations (sensor selection, PID gains, etc.) need to be set. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::WPI_BaseMotorController, ctre::phoenix::motorcontrol::can::WPI_TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonSRX, ctre::phoenix::motorcontrol::can::WPI_VictorSPX, and ctre::phoenix::motorcontrol::can::VictorSPX.

◆ Set() [2/2]

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::Set	(	ControlMode	mode,
		double	value
	)

virtual

Sets the appropriate output on the talon, depending on the mode.

Parameters

mode	The output mode to apply. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. In Follower mode, the output value is the integer device ID of the talon to duplicate.
value	The setpoint value, as described above.

Standard Driving Example: _talonLeft.set(ControlMode.PercentOutput, leftJoy); _talonRght.set(ControlMode.PercentOutput, rghtJoy);

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::WPI_BaseMotorController, ctre::phoenix::motorcontrol::can::WPI_TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonSRX, ctre::phoenix::motorcontrol::can::WPI_VictorSPX, and ctre::phoenix::motorcontrol::can::VictorSPX.

◆ SetControlFramePeriod()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::SetControlFramePeriod	(	ControlFrame	frame,
		int	periodMs
	)

virtual

Sets the period of the given control frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ SetIntegralAccumulator()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::SetIntegralAccumulator	(	double	iaccum,
		int	pidIdx = `0`,
		int	timeoutMs = `0`
	)

virtual

Sets the integral accumulator.

Typically this is used to clear/zero the integral accumulator, however some use cases may require seeding the accumulator for a faster response.

Parameters

iaccum	Value to set for the integral accumulator (closed loop error units X 1ms).
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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ SetInverted() [1/2]

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::SetInverted ( bool invert )

virtual

Inverts the hbridge output of the motor controller.

This does not impact sensor phase and should not be used to correct sensor polarity.

This will invert the hbridge output but NOT the LEDs. This ensures....

Green LEDs always represents positive request from robot-controller/closed-looping mode.
Green LEDs correlates to forward limit switch.
Green LEDs correlates to forward soft limit.

Parameters

invert Invert state to set.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonSRX, ctre::phoenix::motorcontrol::can::WPI_VictorSPX, and ctre::phoenix::motorcontrol::can::WPI_BaseMotorController.

◆ SetInverted() [2/2]

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::SetInverted ( InvertType invertType )

virtual

Inverts the hbridge output of the motor controller in relation to the master if present.

This does not impact sensor phase and should not be used to correct sensor polarity.

This will allow you to either:

Not invert the motor
Invert the motor
Always follow the master regardless of master's inversion
Always oppose the master regardless of master's inversion

Parameters

invertType Invert state to set.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_BaseMotorController, ctre::phoenix::motorcontrol::can::WPI_TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonSRX, and ctre::phoenix::motorcontrol::can::WPI_VictorSPX.

◆ SetNeutralMode()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::SetNeutralMode ( NeutralMode neutralMode )

virtual

Sets the mode of operation during neutral throttle output.

Parameters

neutralMode The desired mode of operation when the Controller output throttle is neutral (ie brake/coast)

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ SetSelectedSensorPosition()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::SetSelectedSensorPosition	(	double	sensorPos,
		int	pidIdx = `0`,
		int	timeoutMs = `50`
	)

virtual

Sets the sensor position to the given value.

Parameters

sensorPos	Position to set for the selected sensor (in raw sensor units).
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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ SetSensorPhase()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::SetSensorPhase ( bool PhaseSensor )

virtual

Sets the phase of the sensor.

Use when controller forward/reverse output doesn't correlate to appropriate forward/reverse reading of sensor. Pick a value so that positive PercentOutput yields a positive change in sensor. After setting this, user can freely call SetInverted() with any value.

Parameters

PhaseSensor Indicates whether to invert the phase of the sensor.

Implements ctre::phoenix::motorcontrol::IMotorController.

◆ SetStatusFramePeriod() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::SetStatusFramePeriod	(	StatusFrame	frame,
		uint8_t	periodMs,
		int	timeoutMs = `0`
	)

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.

Parameters

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.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ SetStatusFramePeriod() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::SetStatusFramePeriod	(	StatusFrameEnhanced	frame,
		uint8_t	periodMs,
		int	timeoutMs = `0`
	)

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.

Parameters

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.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ StartMotionProfile()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseMotorController::StartMotionProfile	(	ctre::phoenix::motion::BufferedTrajectoryPointStream &	stream,
		uint32_t	minBufferedPts,
		ControlMode	motionProfControlMode
	)

virtual

Simple one-shot firing of a complete MP.

Starting in 2019, MPs can be fired by building a Buffered Trajectory Point Stream, and calling this routine.

Once called, the motor controller software will automatically ... [1] Clear the firmware buffer of trajectory points. [2] Clear the underrun flags [3] Reset an index within the Buffered Trajectory Point Stream (so that the same profile can be run again and again). [4] Start a background thread to manage MP streaming (if not already running). [5a] If current control mode already matches motionProfControlMode, set MPE Output to "Hold". [5b] If current control mode does not matches motionProfControlMode, apply motionProfControlMode and set MPE Output to "Disable". [6] Stream the trajectory points into the device's firmware buffer. [7] Once motor controller has at least minBufferedPts worth in the firmware buffer, MP will automatically start (MPE Output set to "Enable"). [8] Wait until MP finishes, then transitions the Motion Profile Executor's output to "Hold". [9] IsMotionProfileFinished() will now return true.

Calling application can use IsMotionProfileFinished() to determine when internal state machine reaches [7]. Calling application can cancel MP by calling set(). Otherwise do not call set() until MP has completed.

The legacy API from previous years requires the calling application to pass points via the ProcessMotionProfileBuffer and PushMotionProfileTrajectory. This is no longer required if using this StartMotionProfile/IsMotionProfileFinished API.

Parameters

stream	A buffer that will be used to stream the trajectory points. Caller can fill this container with the entire trajectory point, regardless of size.
minBufferedPts	Minimum number of firmware buffered points before starting MP. Do not exceed device's firmware buffer capacity or MP will never fire (120 for Motion Profile, or 60 for Motion Profile Arc). Recommendation value for this would be five to ten samples depending on timeDur of the trajectory point.
motionProfControlMode	Pass MotionProfile or MotionProfileArc.

Returns: nonzero error code if operation fails.

◆ ValueUpdated()

virtual void ctre::phoenix::motorcontrol::can::BaseMotorController::ValueUpdated ( )

virtual

When master makes a device, this routine is called to signal the update.

Implements ctre::phoenix::motorcontrol::IFollower.

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

ctre/phoenix/motorcontrol/can/BaseMotorController.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BaseMotorController() [1/3]

◆ ~BaseMotorController()

◆ BaseMotorController() [2/3]

◆ BaseMotorController() [3/3]

Member Function Documentation

◆ BaseConfigAllSettings()

◆ BaseGetAllConfigs()

◆ BaseGetPIDConfigs()

◆ ChangeMotionControlFramePeriod()

◆ ClearMotionProfileHasUnderrun()

◆ ClearMotionProfileTrajectories()

◆ ClearStickyFaults()

◆ Config_IntegralZone()

◆ Config_kD()

◆ Config_kF()

◆ Config_kI()

◆ Config_kP()

◆ ConfigAllowableClosedloopError()

◆ ConfigAuxPIDPolarity()

◆ ConfigClearPositionOnLimitF()

◆ ConfigClearPositionOnLimitR()

◆ ConfigClearPositionOnQuadIdx()

◆ ConfigClosedLoopPeakOutput()

◆ ConfigClosedLoopPeriod()

◆ ConfigClosedloopRamp()

◆ ConfigFactoryDefault()

◆ ConfigFeedbackNotContinuous()

◆ ConfigForwardLimitSwitchSource() [1/2]

◆ ConfigForwardLimitSwitchSource() [2/2]

◆ ConfigForwardSoftLimitEnable()

◆ ConfigForwardSoftLimitThreshold()

◆ ConfigGetCustomParam()

◆ ConfigGetParameter() [1/2]

◆ ConfigGetParameter() [2/2]

◆ ConfigLimitSwitchDisableNeutralOnLOS()

◆ ConfigMaxIntegralAccumulator()

◆ ConfigMotionAcceleration()

◆ ConfigMotionCruiseVelocity()

◆ ConfigMotionProfileTrajectoryInterpolationEnable()

◆ ConfigMotionProfileTrajectoryPeriod()

◆ ConfigMotionSCurveStrength()

◆ ConfigNeutralDeadband()

◆ ConfigNominalOutputForward()

◆ ConfigNominalOutputReverse()

◆ ConfigOpenloopRamp()

◆ ConfigPeakOutputForward()

◆ ConfigPeakOutputReverse()

◆ ConfigPulseWidthPeriod_EdgesPerRot()

◆ ConfigPulseWidthPeriod_FilterWindowSz()

◆ ConfigRemoteFeedbackFilter() [1/3]

◆ ConfigRemoteFeedbackFilter() [2/3]

◆ ConfigRemoteFeedbackFilter() [3/3]

◆ ConfigRemoteSensorClosedLoopDisableNeutralOnLOS()

◆ ConfigReverseLimitSwitchSource() [1/2]

◆ ConfigReverseLimitSwitchSource() [2/2]

◆ ConfigReverseSoftLimitEnable()

◆ ConfigReverseSoftLimitThreshold()

◆ ConfigSelectedFeedbackCoefficient()

◆ ConfigSelectedFeedbackSensor() [1/2]

◆ ConfigSelectedFeedbackSensor() [2/2]

◆ ConfigSensorTerm() [1/2]

◆ ConfigSensorTerm() [2/2]

◆ ConfigSetCustomParam()

◆ ConfigSetParameter()

◆ ConfigSoftLimitDisableNeutralOnLOS()

◆ ConfigureSlot()

◆ ConfigVelocityMeasurementPeriod() [1/2]

◆ ConfigVelocityMeasurementPeriod() [2/2]

◆ ConfigVelocityMeasurementWindow()

◆ ConfigVoltageCompSaturation()

◆ ConfigVoltageMeasurementFilter()

◆ DestroyAllMotControllers()

◆ EnableVoltageCompensation()

◆ Follow() [1/2]

◆ Follow() [2/2]