Configurables available to TalonFX. More...

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

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

Public Member Functions
	TalonFXConfiguration ()

std::string	toString ()

std::string	toString (std::string prependString)

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseTalonConfiguration
	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
SupplyCurrentLimitConfiguration	supplyCurrLimit
	Supply-side current limiting. More...

StatorCurrentLimitConfiguration	statorCurrLimit
	Stator-side current limiting. More...

ctre::phoenix::motorcontrol::MotorCommutation	motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal
	Choose the type of motor commutation. More...

ctre::phoenix::sensors::AbsoluteSensorRange	absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360
	Desired Sign / Range for the absolute position register. More...

double	integratedSensorOffsetDegrees = 0
	Adjusts the zero point for the absolute position register. More...

ctre::phoenix::sensors::SensorInitializationStrategy	initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero
	The sensor initialization strategy to use.This will impact the behavior the next time device boots up. More...

Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseTalonConfiguration
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...

Detailed Description

Configurables available to TalonFX.

Deprecated:: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Constructor & Destructor Documentation

◆ TalonFXConfiguration()

ctre::phoenix::motorcontrol::can::TalonFXConfiguration::TalonFXConfiguration ( )

inline

Member Function Documentation

◆ toString() [1/2]

std::string ctre::phoenix::motorcontrol::can::TalonFXConfiguration::toString ( )

inline

Returns: String representation of all the configs

◆ toString() [2/2]

std::string ctre::phoenix::motorcontrol::can::TalonFXConfiguration::toString ( std::string prependString )

inline

Parameters

prependString String to prepend to all the configs

Returns: String representation of all the configs

Member Data Documentation

◆ absoluteSensorRange

ctre::phoenix::sensors::AbsoluteSensorRange ctre::phoenix::motorcontrol::can::TalonFXConfiguration::absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360

Desired Sign / Range for the absolute position register.

Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc. Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.

◆ initializationStrategy

ctre::phoenix::sensors::SensorInitializationStrategy ctre::phoenix::motorcontrol::can::TalonFXConfiguration::initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero

The sensor initialization strategy to use.This will impact the behavior the next time device boots up.

Pick the strategy on how to initialize the "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position(swerve for example). Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the device is reset.

◆ integratedSensorOffsetDegrees

double ctre::phoenix::motorcontrol::can::TalonFXConfiguration::integratedSensorOffsetDegrees = 0

Adjusts the zero point for the absolute position register.

The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

◆ motorCommutation

ctre::phoenix::motorcontrol::MotorCommutation ctre::phoenix::motorcontrol::can::TalonFXConfiguration::motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal

Choose the type of motor commutation.

◆ statorCurrLimit

StatorCurrentLimitConfiguration ctre::phoenix::motorcontrol::can::TalonFXConfiguration::statorCurrLimit

Stator-side current limiting.

This is typically used to limit acceleration/torque and heat generation.

◆ supplyCurrLimit

SupplyCurrentLimitConfiguration ctre::phoenix::motorcontrol::can::TalonFXConfiguration::supplyCurrLimit

Supply-side current limiting.

This is typically used to prevent breakers from tripping.

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

ctre/phoenix/motorcontrol/can/TalonFX.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TalonFXConfiguration()

Member Function Documentation

◆ toString() [1/2]

◆ toString() [2/2]

Member Data Documentation

◆ absoluteSensorRange

◆ initializationStrategy

◆ integratedSensorOffsetDegrees

◆ motorCommutation

◆ statorCurrLimit

◆ supplyCurrLimit