ctre::phoenix::motorcontrol Namespace Reference

namespace motorcontrol More...

Namespaces
namespace	can
	namespace can
namespace	lowlevel
	namespace lowlevel

Classes
class	ControlFrameRoutines
	Class to handle promotion of controlFrame to controlFrameEnhanced. More...
class	DeviceCatalog
	Class to keep track of multiple devices. More...
struct	Faults
	All the faults available to motor controllers. More...
class	FeedbackDeviceRoutines
	Class to handle feedback device routines. More...
class	GroupMotorControllers
	Group of motor controllers. More...
class	IFollower
	Interface for followers. More...
class	IMotorController
	Interface for motor controllers. More...
class	IMotorControllerEnhanced
	Interface for enhanced motor controllers. More...
class	LimitSwitchRoutines
	Class to handle various functions regarding limit switches. More...
class	RemoteSensorSourceRoutines
	Class used to get string representation of a remote sensor source. More...
class	SensorCollection
	Collection of sensors available to a motor controller. More...
class	SensorTermRoutines
	Class to handle routines specific to SensorTerm. More...
class	StatusFrameRoutines
	Class to allow conversion from StatusFrame to EnhancedStatusFrame. More...
struct	StickyFaults
	All the sticky faults available to motor controllers. More...
struct	SupplyCurrentLimitConfiguration
	Describes the desired stator current limiting behavior. More...
class	TalonSRXSimCollection
	Collection of simulation commands available to a TalonSRX motor controller. More...
class	VelocityMeasPeriodRoutines
	Class to handle routines specific to VelocityMeasPeriod. More...
class	VictorSPXSimCollection
	Collection of simulation commands available to a VictorSPX motor controller. More...
class	WPI_AutoFeedEnable

Enumerations
enum	NeutralMode { EEPROMSetting = 0 , Coast = 1 , Brake = 2 }
	Choose the neutral mode for a motor controller. More...
enum	ControlFrame { Control_3_General = 0x040080 , Control_4_Advanced = 0x0400C0 , Control_6_MotProfAddTrajPoint = 0x040140 }
	Control Frames for motor controllers. More...
enum	ControlFrameEnhanced { Control_3_General_ = 0x040080 , Control_4_Advanced_ = 0x0400c0 , Control_5_FeedbackOutputOverride_ = 0x040100 , Control_6_MotProfAddTrajPoint_ = 0x040140 }
	Control Frames for enhanced motor controllers. More...
enum	DemandType { DemandType_Neutral = 0 , DemandType_AuxPID = 1 , DemandType_ArbitraryFeedForward = 2 }
	How to interpret a demand value. More...
enum class	FeedbackDevice {   QuadEncoder = 0 , Analog = 2 , Tachometer = 4 , PulseWidthEncodedPosition = 8 ,   SensorSum = 9 , SensorDifference = 10 , RemoteSensor0 = 11 , RemoteSensor1 = 12 ,   None = 14 , SoftwareEmulatedSensor = 15 , CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition , CTRE_MagEncoder_Relative = QuadEncoder }
	Choose the feedback device for a motor controller. More...
enum class	TalonSRXFeedbackDevice {   QuadEncoder = 0 , Analog = 2 , Tachometer = 4 , PulseWidthEncodedPosition = 8 ,   SensorSum = 9 , SensorDifference = 10 , RemoteSensor0 = 11 , RemoteSensor1 = 12 ,   None = 14 , SoftwareEmulatedSensor = 15 , CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition , CTRE_MagEncoder_Relative = QuadEncoder }
	Choose the feedback device for a Talon SRX. More...
enum class	RemoteFeedbackDevice {   RemoteFeedbackDevice_FactoryDefaultOff = 0 , FactoryDefaultOff = RemoteFeedbackDevice_FactoryDefaultOff , RemoteFeedbackDevice_SensorSum = 9 , SensorSum = RemoteFeedbackDevice_SensorSum ,   RemoteFeedbackDevice_SensorDifference = 10 , SensorDifference = RemoteFeedbackDevice_SensorDifference , RemoteFeedbackDevice_RemoteSensor0 = 11 , RemoteSensor0 = RemoteFeedbackDevice_RemoteSensor0 ,   RemoteFeedbackDevice_RemoteSensor1 = 12 , RemoteSensor1 = RemoteFeedbackDevice_RemoteSensor1 , RemoteFeedbackDevice_None = 14 , None = RemoteFeedbackDevice_None ,   RemoteFeedbackDevice_SoftwareEmulatedSensor = 15 , SoftwareEmulatedSensor = RemoteFeedbackDevice_SoftwareEmulatedSensor }
	Choose the remote feedback device for a motor controller. More...
enum class	RemoteSensorSource {   RemoteSensorSource_Off , RemoteSensorSource_TalonSRX_SelectedSensor , RemoteSensorSource_Pigeon_Yaw , RemoteSensorSource_Pigeon_Pitch ,   RemoteSensorSource_Pigeon_Roll , RemoteSensorSource_CANifier_Quadrature , RemoteSensorSource_CANifier_PWMInput0 , RemoteSensorSource_CANifier_PWMInput1 ,   RemoteSensorSource_CANifier_PWMInput2 , RemoteSensorSource_CANifier_PWMInput3 , RemoteSensorSource_GadgeteerPigeon_Yaw , RemoteSensorSource_GadgeteerPigeon_Pitch ,   RemoteSensorSource_GadgeteerPigeon_Roll , RemoteSensorSource_CANCoder }
	Choose the remote sensor source for a motor controller. More...
enum	LimitSwitchSource {   LimitSwitchSource_FeedbackConnector = 0 , LimitSwitchSource_RemoteTalon = 1 , LimitSwitchSource_RemoteTalonSRX = LimitSwitchSource_RemoteTalon , LimitSwitchSource_RemoteCANifier = 2 ,   LimitSwitchSource_Deactivated = 3 }
	Limit switch source enum. More...
enum	RemoteLimitSwitchSource {   RemoteLimitSwitchSource_FactoryDefaultOff = 0 , RemoteLimitSwitchSource_RemoteTalon = 1 , RemoteLimitSwitchSource_RemoteTalonSRX = RemoteLimitSwitchSource_RemoteTalon , RemoteLimitSwitchSource_RemoteCANifier = 2 ,   RemoteLimitSwitchSource_Deactivated = 3 }
	Remote Limit switch source enum. More...
enum	LimitSwitchNormal { LimitSwitchNormal_NormallyOpen = 0 , LimitSwitchNormal_NormallyClosed = 1 , LimitSwitchNormal_Disabled = 2 }
	Choose whether the limit switch is normally open or normally closed. More...
enum class	InvertType { None = 0 , InvertMotorOutput = 1 , FollowMaster = 2 , OpposeMaster = 3 }
	Choose the invert type of the motor controller. More...
enum	FollowerType { FollowerType_PercentOutput = 0 , FollowerType_AuxOutput1 }
	Choose the type of follower. More...
enum	VelocityMeasPeriod {   Period_1Ms = 1 , Period_2Ms = 2 , Period_5Ms = 5 , Period_10Ms = 10 ,   Period_20Ms = 20 , Period_25Ms = 25 , Period_50Ms = 50 , Period_100Ms = 100 }
	Velocity Measurement Periods. More...
enum class	ControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Current = 3 ,   Follower = 5 , MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 ,   MusicTone = 13 , Disabled = 15 }
	Choose the control mode for a motor controller. More...
enum class	TalonSRXControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Current = 3 ,   Follower = 5 , MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 ,   Disabled = 15 }
	Choose the control mode for a Talon SRX. More...
enum class	VictorSPXControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Follower = 5 ,   MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 , Disabled = 15 }
	Choose the control mode for a Victor SPX. More...
enum class	SensorTerm { SensorTerm_Sum0 , SensorTerm_Sum1 , SensorTerm_Diff0 , SensorTerm_Diff1 }
	Choose the sensor term for a motor controller. More...
enum	StatusFrameEnhanced {   Status_1_General = 0x1400 , Status_2_Feedback0 = 0x1440 , Status_4_AinTempVbat = 0x14C0 , Status_6_Misc = 0x1540 ,   Status_7_CommStatus = 0x1580 , Status_9_MotProfBuffer = 0x1600 , Status_10_MotionMagic = 0x1640 , Status_10_Targets = 0x1640 ,   Status_12_Feedback1 = 0x16C0 , Status_13_Base_PIDF0 = 0x1700 , Status_14_Turn_PIDF1 = 0x1740 , Status_15_FirmwareApiStatus = 0x1780 ,   Status_15_FirmareApiStatus = 0x1780 , Status_17_Targets1 = 0x1C00 , Status_3_Quadrature = 0x1480 , Status_8_PulseWidth = 0x15C0 ,   Status_11_UartGadgeteer = 0x1680 , Status_Brushless_Current = 0x1240 , Status_21_FeedbackIntegrated = 0x2500 }
	The different status frames available to enhanced motor controllers. More...
enum	StatusFrame {   Status_1_General_ = 0x1400 , Status_2_Feedback0_ = 0x1440 , Status_4_AinTempVbat_ = 0x14C0 , Status_6_Misc_ = 0x1540 ,   Status_7_CommStatus_ = 0x1580 , Status_9_MotProfBuffer_ = 0x1600 , Status_10_MotionMagic_ = 0x1640 , Status_10_Targets_ = 0x1640 ,   Status_12_Feedback1_ = 0x16C0 , Status_13_Base_PIDF0_ = 0x1700 , Status_14_Turn_PIDF1_ = 0x1740 , Status_15_FirmwareApiStatus_ = 0x1780 ,   Status_15_FirmareApiStatus_ = 0x1780 , Status_17_Targets1_ = 0x1C00 }
	The different status frames available to motor controllers. More...

Detailed Description

namespace motorcontrol

Enumeration Type Documentation

ControlFrame

enum ctre::phoenix::motorcontrol::ControlFrame

Control Frames for motor controllers.

Enumerator
Control_3_General	Control.
Control_4_Advanced	Advanced Control.
Control_6_MotProfAddTrajPoint	Trajectory points.

ControlFrameEnhanced

enum ctre::phoenix::motorcontrol::ControlFrameEnhanced

Control Frames for enhanced motor controllers.

Enumerator
Control_3_General_	Control.
Control_4_Advanced_	Advanced Control.
Control_5_FeedbackOutputOverride_	Override feedback output.
Control_6_MotProfAddTrajPoint_	Trajectory points.

ControlMode

enum class ctre::phoenix::motorcontrol::ControlMode

strong

Choose the control mode for a motor controller.

Consult product specific documentation to determine what is available/supported.

Enumerator
PercentOutput	Percent output [-1,1].
Position	Position closed loop.
Velocity	Velocity closed loop.
Current	Input current closed loop.
Follower	Follow other motor controller.
MotionProfile	Motion Profile.
MotionMagic	Motion Magic.
MotionProfileArc	Motion Profile with auxiliary output.
MusicTone	Plays a single tone. Frequency (hz) is passed into set.
Disabled	Disable Motor Controller.

DemandType

enum ctre::phoenix::motorcontrol::DemandType

How to interpret a demand value.

Enumerator
DemandType_Neutral	Ignore the demand value and apply neutral/no-change.
DemandType_AuxPID	When closed-looping, set the target of the aux PID loop to the demand value. When following, follow the processed output of the combined primary/aux PID output of the master. The demand value is ignored. Although it is much cleaner to use the 2-param Follow() in such cases. Target value of Aux PID loop 1.
DemandType_ArbitraryFeedForward	When closed-looping, add demand arbitrarily to the closed-loop output. Simply add to the output

FeedbackDevice

enum class ctre::phoenix::motorcontrol::FeedbackDevice

strong

Choose the feedback device for a motor controller.

Consult product specific documentation to determine what is available/supported.

Enumerator
QuadEncoder	Quadrature encoder.
Analog	Analog potentiometer/encoder.
Tachometer	Tachometer.
PulseWidthEncodedPosition	CTRE Mag Encoder in Absolute mode or any other device that uses PWM to encode its output.
SensorSum	Sum0 + Sum1.
SensorDifference	Diff0 - Diff1.
RemoteSensor0	Sensor configured in RemoteFilter0.
RemoteSensor1	Sensor configured in RemoteFilter1.
None	Position and velocity will read 0.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.
CTRE_MagEncoder_Absolute	CTR mag encoder configured in absolute, is the same as a PWM sensor.
CTRE_MagEncoder_Relative	CTR mag encoder configured in relative, is the same as an quadrature encoder sensor.

FollowerType

enum ctre::phoenix::motorcontrol::FollowerType

Choose the type of follower.

Enumerator
FollowerType_PercentOutput	Follow the percentOutput the master is using.
FollowerType_AuxOutput1	Follow the auxiliary output the master is calculating. Used for 2-axis control. This typically means apply PID0 - PID1 from master.

InvertType

enum class ctre::phoenix::motorcontrol::InvertType

strong

Choose the invert type of the motor controller.

None is the equivalent of SetInverted(false), where positive request yields positive voltage on M+. InvertMotorOutput is the equivelant of SetInverted(true), where positive request yields positive voltage on M-. FollowMaster/OpposeMaster will match/oppose a master Talon/Victor. This requires device to be configured as a follower.

Enumerator
None	Same as SetInverted(false)
InvertMotorOutput	Same as SetInverted(true)
FollowMaster	Follow the invert of the master this MC is following.
OpposeMaster	Opposite of the invert of the master this MC is following.

LimitSwitchNormal

enum ctre::phoenix::motorcontrol::LimitSwitchNormal

Choose whether the limit switch is normally open or normally closed.

Enumerator
LimitSwitchNormal_NormallyOpen	Limit Switch is tripped when the circuit is closed.
LimitSwitchNormal_NormallyClosed	Limit Switch is tripped when the circuit is open.
LimitSwitchNormal_Disabled	Limit switch is disabled.

LimitSwitchSource

enum ctre::phoenix::motorcontrol::LimitSwitchSource

Limit switch source enum.

Enumerator
LimitSwitchSource_FeedbackConnector	Limit switch directly connected to motor controller.
LimitSwitchSource_RemoteTalon	Use Limit switch connected to Talon on CAN.
LimitSwitchSource_RemoteTalonSRX	Use Limit switch connected to TalonSRX on CAN.
LimitSwitchSource_RemoteCANifier	User Limit switch connected to CANifier.
LimitSwitchSource_Deactivated	Don't use a limit switch.

NeutralMode

enum ctre::phoenix::motorcontrol::NeutralMode

Choose the neutral mode for a motor controller.

Enumerator
EEPROMSetting	Use the NeutralMode that is set in the MC's persistent storage.
Coast	When commanded to neutral, motor leads are set to high-impedance, allowing mechanism to coast.
Brake	When commanded to neutral, motor leads are commonized electrically to reduce motion.

RemoteFeedbackDevice

enum class ctre::phoenix::motorcontrol::RemoteFeedbackDevice

strong

Choose the remote feedback device for a motor controller.

Enumerator
RemoteFeedbackDevice_FactoryDefaultOff	[[deprecated("Use None instead.")]] Factory default setting for non-enhanced motor controllers
FactoryDefaultOff	[[deprecated("Use None instead.")]] Factory default setting for non-enhanced motor controllers
RemoteFeedbackDevice_SensorSum	[[deprecated("Use SensorSum instead.")]] Use Sum0 + Sum1
SensorSum	Use Sum0 + Sum1.
RemoteFeedbackDevice_SensorDifference	[[deprecated("Use SensorDifference instead.")]] Use Diff0 - Diff1
SensorDifference	Use Diff0 - Diff1.
RemoteFeedbackDevice_RemoteSensor0	[[deprecated("Use RemoteSensor0 instead.")]] Use the sensor configured in filter0
RemoteSensor0	Use the sensor configured in filter0.
RemoteFeedbackDevice_RemoteSensor1	[[deprecated("Use RemoteSensor1 instead.")]] Use the sensor configured in filter1
RemoteSensor1	Use the sensor configured in filter1.
RemoteFeedbackDevice_None	[[deprecated("Use None instead.")]] Position and velocity will read 0.
None	Position and velocity will read 0.
RemoteFeedbackDevice_SoftwareEmulatedSensor	[[deprecated("Use SoftwareEmulatedSensor instead.")]] Motor Controller will fake a sensor based on applied motor output.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.

RemoteLimitSwitchSource

enum ctre::phoenix::motorcontrol::RemoteLimitSwitchSource

Remote Limit switch source enum.

Enumerator
RemoteLimitSwitchSource_FactoryDefaultOff	Don't use limit switch, this is the factory default value.
RemoteLimitSwitchSource_RemoteTalon	Use Limit switch connected to Talon on CAN.
RemoteLimitSwitchSource_RemoteTalonSRX	Use Limit switch connected to TalonSRX on CAN.
RemoteLimitSwitchSource_RemoteCANifier	User Limit switch connected to CANifier.
RemoteLimitSwitchSource_Deactivated	Don't use a limit switch.

RemoteSensorSource

enum class ctre::phoenix::motorcontrol::RemoteSensorSource

strong

Choose the remote sensor source for a motor controller.

Enumerator
RemoteSensorSource_Off	Don't use a sensor.
RemoteSensorSource_TalonSRX_SelectedSensor	Use a sensor connected to a TalonSRX and configured on the TalonSRX.
RemoteSensorSource_Pigeon_Yaw	Use a CAN Pigeon's Yaw value.
RemoteSensorSource_Pigeon_Pitch	Use a CAN Pigeon's Pitch value.
RemoteSensorSource_Pigeon_Roll	Use a CAN Pigeon's Roll value.
RemoteSensorSource_CANifier_Quadrature	Use a quadrature sensor connected to a CANifier.
RemoteSensorSource_CANifier_PWMInput0	Use a PWM sensor connected to CANifier's PWM0.
RemoteSensorSource_CANifier_PWMInput1	Use a PWM sensor connected to CANifier's PWM1.
RemoteSensorSource_CANifier_PWMInput2	Use a PWM sensor connected to CANifier's PWM2.
RemoteSensorSource_CANifier_PWMInput3	Use a PWM sensor connected to CANifier's PWM3.
RemoteSensorSource_GadgeteerPigeon_Yaw	Use the yaw value of a pigeon connected to a talon over ribbon cable.
RemoteSensorSource_GadgeteerPigeon_Pitch	Use the pitch value of a pigeon connected to a talon over ribbon cable.
RemoteSensorSource_GadgeteerPigeon_Roll	Use the roll value of a pigeon connected to a talon over ribbon cable.
RemoteSensorSource_CANCoder	Use CANCoder.

SensorTerm

enum class ctre::phoenix::motorcontrol::SensorTerm

strong

Choose the sensor term for a motor controller.

Enumerator
SensorTerm_Sum0	Choose Sum0 for a term.
SensorTerm_Sum1	Choose Sum1 for a term.
SensorTerm_Diff0	Choose Diff0 for a term.
SensorTerm_Diff1	Choose Diff1 for a term.

StatusFrame

enum ctre::phoenix::motorcontrol::StatusFrame

The different status frames available to motor controllers.

Enumerator
Status_1_General_	General Status.
Status_2_Feedback0_	Main controller feedback.
Status_4_AinTempVbat_	Analog sensor, motor controller temperature, and voltage at input leads.
Status_6_Misc_	Miscellaneous signals.
Status_7_CommStatus_	Communication status to controller.
Status_9_MotProfBuffer_	Motion profile buffer status.
Status_10_MotionMagic_	Old name for Status 10. Use See also Status_10_Targets instead.
Status_10_Targets_	Correct name for Status 10. Functionally equivalent to See also Status_10_MotionMagic
Status_12_Feedback1_	Secondary controller feedback.
Status_13_Base_PIDF0_	Base PID.
Status_14_Turn_PIDF1_	Auxiliary PID.
Status_15_FirmwareApiStatus_	Firmware & API status information.
Status_15_FirmareApiStatus_	Firmware & API status information [[deprecated("Use Status_15_FirmwareApiStatus_ instead.")]].
Status_17_Targets1_	MotionProfile Targets for Auxiliary PID1.

StatusFrameEnhanced

enum ctre::phoenix::motorcontrol::StatusFrameEnhanced

The different status frames available to enhanced motor controllers.

Enumerator
Status_1_General	General Status.
Status_2_Feedback0	Feedback for selected sensor on primary PID[0].
Status_4_AinTempVbat	Analog sensor, motor controller temperature, and voltage at input leads.
Status_6_Misc	Miscellaneous signals.
Status_7_CommStatus	Communication status.
Status_9_MotProfBuffer	Motion profile buffer status.
Status_10_MotionMagic	Old name for Status 10. Use See also Status_10_Targets instead.
Status_10_Targets	Correct name for Status 10. Functionally equivalent to See also Status_10_MotionMagic
Status_12_Feedback1	Feedback for selected sensor on aux PID[1].
Status_13_Base_PIDF0	Primary PID.
Status_14_Turn_PIDF1	Auxiliary PID.
Status_15_FirmwareApiStatus	Firmware & API status information.
Status_15_FirmareApiStatus	Firmware & API status information [[deprecated("Use Status_15_FirmwareApiStatus instead.")]].
Status_17_Targets1	MotionProfile Targets for Auxiliary PID1.
Status_3_Quadrature	Quadrature sensor.
Status_8_PulseWidth	Pulse width sensor.
Status_11_UartGadgeteer	Gadgeteer status.
Status_Brushless_Current	Brushless Current Status. Includes Stator and Supply Current for Talon FX.
Status_21_FeedbackIntegrated	FX Integrated sensor.

TalonSRXControlMode

enum class ctre::phoenix::motorcontrol::TalonSRXControlMode

strong

Choose the control mode for a Talon SRX.

Enumerator
PercentOutput	Percent output [-1,1].
Position	Position closed loop.
Velocity	Velocity closed loop.
Current	Input current closed loop.
Follower	Follow other motor controller.
MotionProfile	Motion Profile.
MotionMagic	Motion Magic.
MotionProfileArc	Motion Profile with auxiliary output.
Disabled	Disable Motor Controller.

TalonSRXFeedbackDevice

enum class ctre::phoenix::motorcontrol::TalonSRXFeedbackDevice

strong

Choose the feedback device for a Talon SRX.

Enumerator
QuadEncoder	Quadrature encoder.
Analog	Analog potentiometer/encoder.
Tachometer	Tachometer.
PulseWidthEncodedPosition	CTRE Mag Encoder in Absolute mode or any other device that uses PWM to encode its output.
SensorSum	Sum0 + Sum1.
SensorDifference	Diff0 - Diff1.
RemoteSensor0	Sensor configured in RemoteFilter0.
RemoteSensor1	Sensor configured in RemoteFilter1.
None	Position and velocity will read 0.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.
CTRE_MagEncoder_Absolute	CTR mag encoder configured in absolute, is the same as a PWM sensor.
CTRE_MagEncoder_Relative	CTR mag encoder configured in relative, is the same as an quadrature encoder sensor.

VelocityMeasPeriod

enum ctre::phoenix::motorcontrol::VelocityMeasPeriod

Velocity Measurement Periods.

Enumerator
Period_1Ms	1ms measurement period
Period_2Ms	2ms measurement period
Period_5Ms	5ms measurement period
Period_10Ms	10ms measurement period
Period_20Ms	20ms measurement period
Period_25Ms	25ms measurement period
Period_50Ms	50ms measurement period
Period_100Ms	100ms measurement period

VictorSPXControlMode

enum class ctre::phoenix::motorcontrol::VictorSPXControlMode

strong

Choose the control mode for a Victor SPX.

Enumerator
PercentOutput	Percent output [-1,1].
Position	Position closed loop.
Velocity	Velocity closed loop.
Follower	Follow other motor controller.
MotionProfile	Motion Profile.
MotionMagic	Motion Magic.
MotionProfileArc	Motion Profile with auxiliary output.
Disabled	Disable Motor Controller.