VEX Victor SPX Motor Controller when used on CAN Bus. More...

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

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

Public Member Functions
	VictorSPX (int deviceNumber)
	Constructor. More...

	VictorSPX (int deviceNumber, std::string const &canbus)
	Constructor so non-FRC platforms can specify a CAN 2.0 socketcan bus. More...

virtual	~VictorSPX ()

	VictorSPX (VictorSPX const &)=delete

VictorSPX &	operator= (VictorSPX const &)=delete

void	Set (ctre::phoenix::motorcontrol::VictorSPXControlMode mode, double value)
	Sets the appropriate output on the motor controller, depending on the mode. More...

void	Set (ctre::phoenix::motorcontrol::VictorSPXControlMode mode, double demand0, ctre::phoenix::motorcontrol::DemandType demand1Type, double demand1)

ctre::phoenix::motorcontrol::VictorSPXSimCollection &	GetSimCollection ()

void	GetPIDConfigs (VictorSPXPIDSetConfiguration &pid, int pidIdx=0, int timeoutMs=50)
	Gets all PID set persistant settings. More...

virtual ctre::phoenix::ErrorCode	ConfigAllSettings (const VictorSPXConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings. More...

virtual void	GetAllConfigs (VictorSPXConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings. More...

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

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

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
	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...

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
static void	DestroyAllMotControllers ()
	Destructs all motor controller objects. More...

Protected Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
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

VEX Victor SPX Motor Controller when used on CAN Bus.



// Example usage of a VictorSPX motor controller

VictorSPX motor{0}; // creates a new VictorSPX with ID 0



motor.Set(VictorSPXControlMode::PercentOutput, 0.5); // runs the motor at 50% power



std::cout << motor.GetMotorOutputPercent() << std::endl; // prints the percent output of the motor (0.5)

std::cout << motor.GetBusVoltage() << std::endl; // prints the bus voltage seen by the motor controller



ErrorCode error = motor.GetLastError(); // gets the last error generated by the motor controller

Faults faults;

ErrorCode faultsError = motor.GetFaults(faults); // fills faults with the current motor controller faults; returns the last error generated

Constructor & Destructor Documentation

◆ VictorSPX() [1/3]

ctre::phoenix::motorcontrol::can::VictorSPX::VictorSPX ( int deviceNumber )

Constructor.

Parameters

deviceNumber [0,62]

◆ VictorSPX() [2/3]

ctre::phoenix::motorcontrol::can::VictorSPX::VictorSPX	(	int	deviceNumber,
		std::string const &	canbus
	)

Constructor so non-FRC platforms can specify a CAN 2.0 socketcan bus.

Parameters

deviceNumber	CAN Device ID of VictorSPX
canbus	String specifying the bus

◆ ~VictorSPX()

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

inlinevirtual

◆ VictorSPX() [3/3]

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

delete

Member Function Documentation

◆ ConfigAllSettings()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::VictorSPX::ConfigAllSettings	(	const VictorSPXConfiguration &	allConfigs,
		int	timeoutMs = `50`
	)

virtual

Configures all persistent settings.

Parameters

allConfigs	Object with all of the 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.

◆ GetAllConfigs()

virtual void ctre::phoenix::motorcontrol::can::VictorSPX::GetAllConfigs	(	VictorSPXConfiguration &	allConfigs,
		int	timeoutMs = `50`
	)

virtual

Gets all persistant settings.

Parameters

allConfigs	Object with all of the 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.

◆ GetPIDConfigs()

void ctre::phoenix::motorcontrol::can::VictorSPX::GetPIDConfigs	(	VictorSPXPIDSetConfiguration &	pid,
		int	pidIdx = `0`,
		int	timeoutMs = `50`
	)

Gets all PID set persistant settings.

Parameters

pid	Object with all of the 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.

◆ GetSimCollection()

ctre::phoenix::motorcontrol::VictorSPXSimCollection & ctre::phoenix::motorcontrol::can::VictorSPX::GetSimCollection ( )

Returns: object that can set simulation inputs.

◆ operator=()

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

delete

◆ Set() [1/4]

virtual void ctre::phoenix::motorcontrol::can::VictorSPX::Set	(	ctre::phoenix::motorcontrol::ControlMode	mode,
		double	demand0,
		ctre::phoenix::motorcontrol::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);

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

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

◆ Set() [2/4]

virtual void ctre::phoenix::motorcontrol::can::VictorSPX::Set	(	ctre::phoenix::motorcontrol::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);

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

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

◆ Set() [3/4]

void ctre::phoenix::motorcontrol::can::VictorSPX::Set	(	ctre::phoenix::motorcontrol::VictorSPXControlMode	mode,
		double	demand0,
		ctre::phoenix::motorcontrol::DemandType	demand1Type,
		double	demand1
	)

Parameters

mode	Sets the appropriate output on the motor controller, 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 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 motor controller 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: _victorLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _victorRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn);

Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _victorLeft.follow(_victorRght, FollwerType.AuxOutput1); _victorRght.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. _victorLeft.follow(_victorRght, FollwerType.AuxOutput1); _victorRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);

◆ Set() [4/4]

void ctre::phoenix::motorcontrol::can::VictorSPX::Set	(	ctre::phoenix::motorcontrol::VictorSPXControlMode	mode,
		double	value
	)

Sets the appropriate output on the motor controller, 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 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 motor controller to duplicate.
value	The setpoint value, as described above.

Standard Driving Example: victorLeft.set(ControlMode.PercentOutput, leftJoy); victorRght.set(ControlMode.PercentOutput, rghtJoy);

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

ctre/phoenix/motorcontrol/can/VictorSPX.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VictorSPX() [1/3]

◆ VictorSPX() [2/3]

◆ ~VictorSPX()

◆ VictorSPX() [3/3]

Member Function Documentation

◆ ConfigAllSettings()

◆ GetAllConfigs()

◆ GetPIDConfigs()

◆ GetSimCollection()

◆ operator=()

◆ Set() [1/4]

◆ Set() [2/4]

◆ Set() [3/4]

◆ Set() [4/4]