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.
int	peakCurrentDuration
	Peak Current duration in milliseconds.
int	continuousCurrentLimit
	Continuous current in amps.
Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseTalonConfiguration
BaseTalonPIDSetConfiguration	primaryPID
	Primary PID configuration.
BaseTalonPIDSetConfiguration	auxiliaryPID
	Auxiliary PID configuration.
LimitSwitchSource	forwardLimitSwitchSource
	Forward Limit Switch Source.
LimitSwitchSource	reverseLimitSwitchSource
	Reverse Limit Switch Source.
int	forwardLimitSwitchDeviceID
	Forward limit switch device ID.
int	reverseLimitSwitchDeviceID
	Reverse limit switch device ID.
LimitSwitchNormal	forwardLimitSwitchNormal
	Forward limit switch normally open/closed.
LimitSwitchNormal	reverseLimitSwitchNormal
	Reverse limit switch normally open/closed.
FeedbackDevice	sum0Term
	Feedback Device for Sum 0 Term Note the FeedbackDevice enum holds all possible sensor types.
FeedbackDevice	sum1Term
	Feedback Device for Sum 1 Term Note the FeedbackDevice enum holds all possible sensor types.
FeedbackDevice	diff0Term
	Feedback Device for Diff 0 Term Note the FeedbackDevice enum holds all possible sensor types.
FeedbackDevice	diff1Term
	Feedback Device for Diff 1 Term Note the FeedbackDevice enum holds all possible sensor types.
Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration
double	openloopRamp
	Seconds to go from 0 to full in open loop.
double	closedloopRamp
	Seconds to go from 0 to full in closed loop.
double	peakOutputForward
	Peak output in forward direction [0,1].
double	peakOutputReverse
	Peak output in reverse direction [-1,0].
double	nominalOutputForward
	Nominal/Minimum output in forward direction [0,1].
double	nominalOutputReverse
	Nominal/Minimum output in reverse direction [-1,0].
double	neutralDeadband
	Neutral deadband [0.001, 0.25].
double	voltageCompSaturation
	This is the max voltage to apply to the hbridge when voltage compensation is enabled.
int	voltageMeasurementFilter
	Number of samples in rolling average for voltage.
ctre::phoenix::sensors::SensorVelocityMeasPeriod	velocityMeasurementPeriod
	Desired period for velocity measurement.
int	velocityMeasurementWindow
	Desired window for velocity measurement.
double	forwardSoftLimitThreshold
	Threshold for soft limits in forward direction (in raw sensor units)
double	reverseSoftLimitThreshold
	Threshold for soft limits in reverse direction (in raw sensor units)
bool	forwardSoftLimitEnable
	Enable forward soft limit.
bool	reverseSoftLimitEnable
	Enable reverse soft limit.
SlotConfiguration	slot0
	Configuration for slot 0.
SlotConfiguration	slot1
	Configuration for slot 1.
SlotConfiguration	slot2
	Configuration for slot 2.
SlotConfiguration	slot3
	Configuration for slot 3.
bool	auxPIDPolarity
	PID polarity inversion.
FilterConfiguration	remoteFilter0
	Configuration for RemoteFilter 0.
FilterConfiguration	remoteFilter1
	Configuration for RemoteFilter 1.
double	motionCruiseVelocity
	Motion Magic cruise velocity in raw sensor units per 100 ms.
double	motionAcceleration
	Motion Magic acceleration in (raw sensor units per 100 ms) per second.
int	motionCurveStrength
	Zero to use trapezoidal motion during motion magic.
int	motionProfileTrajectoryPeriod
	Motion profile base trajectory period in milliseconds.
bool	feedbackNotContinuous
	Determine whether feedback sensor is continuous or not.
bool	remoteSensorClosedLoopDisableNeutralOnLOS
	Disable neutral'ing the motor when remote sensor is lost on CAN bus.
bool	clearPositionOnLimitF
	Clear the position on forward limit.
bool	clearPositionOnLimitR
	Clear the position on reverse limit.
bool	clearPositionOnQuadIdx
	Clear the position on index.
bool	limitSwitchDisableNeutralOnLOS
	Disable neutral'ing the motor when remote limit switch is lost on CAN bus.
bool	softLimitDisableNeutralOnLOS
	Disable neutral'ing the motor when remote soft limit is lost on CAN bus.
int	pulseWidthPeriod_EdgesPerRot
	Number of edges per rotation for a tachometer sensor.
int	pulseWidthPeriod_FilterWindowSz
	Desired window size for a tachometer sensor.
bool	trajectoryInterpolationEnable
	Enable motion profile trajectory point interpolation (defaults to true).
Public Attributes inherited from ctre::phoenix::CustomParamConfiguration
int	customParam0
	Custom Param 0.
int	customParam1
	Custom Param 1.
bool	enableOptimizations
	Enable optimizations for ConfigAll (defaults true)

Detailed Description

Configurables available to TalonSRX.

Constructor & Destructor Documentation

TalonSRXConfiguration()

ctre::phoenix::motorcontrol::can::TalonSRXConfiguration::TalonSRXConfiguration ( )

inline

Member Function Documentation

toString() [1/2]

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

inline

Returns

String representation of all the configs

toString() [2/2]

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

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