CTRE Phoenix C++ 5.33.1
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Configurables available to BaseTalon. More...
#include <ctre/phoenix/motorcontrol/can/BaseTalon.h>
Public Member Functions | |
BaseTalonConfiguration (FeedbackDevice defaultFeedbackDevice) | |
std::string | toString () |
std::string | toString (std::string prependString) |
Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration | |
BaseMotorControllerConfiguration () | |
std::string | toString () |
std::string | toString (std::string prependString) |
Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration | |
CustomParamConfiguration () | |
std::string | toString () |
std::string | toString (std::string prependString) |
Public Attributes | |
BaseTalonPIDSetConfiguration | primaryPID |
Primary PID configuration. More... | |
BaseTalonPIDSetConfiguration | auxiliaryPID |
Auxiliary PID configuration. More... | |
LimitSwitchSource | forwardLimitSwitchSource |
Forward Limit Switch Source. More... | |
LimitSwitchSource | reverseLimitSwitchSource |
Reverse Limit Switch Source. More... | |
int | forwardLimitSwitchDeviceID |
Forward limit switch device ID. More... | |
int | reverseLimitSwitchDeviceID |
Reverse limit switch device ID. More... | |
LimitSwitchNormal | forwardLimitSwitchNormal |
Forward limit switch normally open/closed. More... | |
LimitSwitchNormal | reverseLimitSwitchNormal |
Reverse limit switch normally open/closed. More... | |
FeedbackDevice | sum0Term |
Feedback Device for Sum 0 Term Note the FeedbackDevice enum holds all possible sensor types. More... | |
FeedbackDevice | sum1Term |
Feedback Device for Sum 1 Term Note the FeedbackDevice enum holds all possible sensor types. More... | |
FeedbackDevice | diff0Term |
Feedback Device for Diff 0 Term Note the FeedbackDevice enum holds all possible sensor types. More... | |
FeedbackDevice | diff1Term |
Feedback Device for Diff 1 Term Note the FeedbackDevice enum holds all possible sensor types. More... | |
Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration | |
double | openloopRamp |
Seconds to go from 0 to full in open loop. More... | |
double | closedloopRamp |
Seconds to go from 0 to full in closed loop. More... | |
double | peakOutputForward |
Peak output in forward direction [0,1]. More... | |
double | peakOutputReverse |
Peak output in reverse direction [-1,0]. More... | |
double | nominalOutputForward |
Nominal/Minimum output in forward direction [0,1]. More... | |
double | nominalOutputReverse |
Nominal/Minimum output in reverse direction [-1,0]. More... | |
double | neutralDeadband |
Neutral deadband [0.001, 0.25]. More... | |
double | voltageCompSaturation |
This is the max voltage to apply to the hbridge when voltage compensation is enabled. More... | |
int | voltageMeasurementFilter |
Number of samples in rolling average for voltage. More... | |
ctre::phoenix::sensors::SensorVelocityMeasPeriod | velocityMeasurementPeriod |
Desired period for velocity measurement. More... | |
int | velocityMeasurementWindow |
Desired window for velocity measurement. More... | |
double | forwardSoftLimitThreshold |
Threshold for soft limits in forward direction (in raw sensor units) More... | |
double | reverseSoftLimitThreshold |
Threshold for soft limits in reverse direction (in raw sensor units) More... | |
bool | forwardSoftLimitEnable |
Enable forward soft limit. More... | |
bool | reverseSoftLimitEnable |
Enable reverse soft limit. More... | |
SlotConfiguration | slot0 |
Configuration for slot 0. More... | |
SlotConfiguration | slot1 |
Configuration for slot 1. More... | |
SlotConfiguration | slot2 |
Configuration for slot 2. More... | |
SlotConfiguration | slot3 |
Configuration for slot 3. More... | |
bool | auxPIDPolarity |
PID polarity inversion. More... | |
FilterConfiguration | remoteFilter0 |
Configuration for RemoteFilter 0. More... | |
FilterConfiguration | remoteFilter1 |
Configuration for RemoteFilter 1. More... | |
double | motionCruiseVelocity |
Motion Magic cruise velocity in raw sensor units per 100 ms. More... | |
double | motionAcceleration |
Motion Magic acceleration in (raw sensor units per 100 ms) per second. More... | |
int | motionCurveStrength |
Zero to use trapezoidal motion during motion magic. More... | |
int | motionProfileTrajectoryPeriod |
Motion profile base trajectory period in milliseconds. More... | |
bool | feedbackNotContinuous |
Determine whether feedback sensor is continuous or not. More... | |
bool | remoteSensorClosedLoopDisableNeutralOnLOS |
Disable neutral'ing the motor when remote sensor is lost on CAN bus. More... | |
bool | clearPositionOnLimitF |
Clear the position on forward limit. More... | |
bool | clearPositionOnLimitR |
Clear the position on reverse limit. More... | |
bool | clearPositionOnQuadIdx |
Clear the position on index. More... | |
bool | limitSwitchDisableNeutralOnLOS |
Disable neutral'ing the motor when remote limit switch is lost on CAN bus. More... | |
bool | softLimitDisableNeutralOnLOS |
Disable neutral'ing the motor when remote soft limit is lost on CAN bus. More... | |
int | pulseWidthPeriod_EdgesPerRot |
Number of edges per rotation for a tachometer sensor. More... | |
int | pulseWidthPeriod_FilterWindowSz |
Desired window size for a tachometer sensor. More... | |
bool | trajectoryInterpolationEnable |
Enable motion profile trajectory point interpolation (defaults to true). More... | |
Public Attributes inherited from ctre::phoenix::CustomParamConfiguration | |
int | customParam0 |
Custom Param 0. More... | |
int | customParam1 |
Custom Param 1. More... | |
bool | enableOptimizations |
Enable optimizations for ConfigAll (defaults true) More... | |
Configurables available to BaseTalon.
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prependString | String to prepend to all the configs |
BaseTalonPIDSetConfiguration ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::auxiliaryPID |
Auxiliary PID configuration.
FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::diff0Term |
Feedback Device for Diff 0 Term Note the FeedbackDevice enum holds all possible sensor types.
Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.
FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::diff1Term |
Feedback Device for Diff 1 Term Note the FeedbackDevice enum holds all possible sensor types.
Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.
int ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchDeviceID |
Forward limit switch device ID.
Limit Switch device id isn't used unless device is a remote
LimitSwitchNormal ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchNormal |
Forward limit switch normally open/closed.
LimitSwitchSource ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchSource |
Forward Limit Switch Source.
User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
BaseTalonPIDSetConfiguration ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::primaryPID |
Primary PID configuration.
int ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchDeviceID |
Reverse limit switch device ID.
Limit Switch device id isn't used unless device is a remote
LimitSwitchNormal ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchNormal |
Reverse limit switch normally open/closed.
LimitSwitchSource ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchSource |
Reverse Limit Switch Source.
User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::sum0Term |
Feedback Device for Sum 0 Term Note the FeedbackDevice enum holds all possible sensor types.
Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.
FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::sum1Term |
Feedback Device for Sum 1 Term Note the FeedbackDevice enum holds all possible sensor types.
Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.