ctre::phoenix::motorcontrol::can::TalonSRXConfiguration Struct Reference
Configurables available to TalonSRX. More...
#include <ctre/phoenix/motorcontrol/can/TalonSRX.h>
Inheritance diagram for ctre::phoenix::motorcontrol::can::TalonSRXConfiguration:
Public Member Functions | |
| TalonSRXConfiguration () | |
| 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 | |
| int | peakCurrentLimit |
| Peak current in amps. More... | |
| int | peakCurrentDuration |
| Peak Current duration in milliseconds. More... | |
| int | continuousCurrentLimit |
| Continuous current in amps. 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 TalonSRX.
Constructor & Destructor Documentation
◆ TalonSRXConfiguration()
|
inline |
Member Function Documentation
◆ toString() [1/2]
|
inline |
- Returns
- String representation of all the configs
◆ toString() [2/2]
|
inline |
- Parameters
-
prependString String to prepend to all the configs
- Returns
- String representation of all the configs
Member Data Documentation
◆ continuousCurrentLimit
| int ctre::phoenix::motorcontrol::can::TalonSRXConfiguration::continuousCurrentLimit |
Continuous current in amps.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
◆ peakCurrentDuration
| int ctre::phoenix::motorcontrol::can::TalonSRXConfiguration::peakCurrentDuration |
Peak Current duration in milliseconds.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
◆ peakCurrentLimit
| int ctre::phoenix::motorcontrol::can::TalonSRXConfiguration::peakCurrentLimit |
Peak current in amps.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
The documentation for this struct was generated from the following file:
- ctre/phoenix/motorcontrol/can/TalonSRX.h
