Class TalonFXSimCollection
@Deprecated(since="2024", forRemoval=true) public class TalonFXSimCollection extends Object
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.
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Constructor Summary
Constructors Constructor Description TalonFXSimCollection(BaseTalon motorController)
Deprecated, for removal: This API element is subject to removal in a future version.Constructor for TalonFXSimCollection -
Method Summary
Modifier and Type Method Description ErrorCode
addIntegratedSensorPosition(int dPos)
Deprecated, for removal: This API element is subject to removal in a future version.Adds to the simulated integrated sensor position of the TalonFX.ErrorCode
getLastError()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the last error generated by this object.double
getMotorOutputLeadVoltage()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the simulated output voltage across M+ and M- for the motor.ErrorCode
setBusVoltage(double vbat)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated bus voltage of the TalonFX.ErrorCode
setIntegratedSensorRawPosition(int newPos)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated raw integrated sensor position of the TalonFX.ErrorCode
setIntegratedSensorVelocity(int newVel)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated integrated sensor velocity of the TalonFX.ErrorCode
setLimitFwd(boolean isClosed)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated forward limit switch of the TalonFX.ErrorCode
setLimitRev(boolean isClosed)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated reverse limit switch of the TalonFX.ErrorCode
setStatorCurrent(double currA)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated stator current of the TalonFX.ErrorCode
setSupplyCurrent(double currA)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated supply current of the TalonFX.
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Constructor Details
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TalonFXSimCollection
Deprecated, for removal: This API element is subject to removal in a future version.Constructor for TalonFXSimCollection- Parameters:
motorController
- Motor Controller to connect Collection to
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Method Details
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getLastError
Deprecated, for removal: This API element is subject to removal in a future version.Gets the last error generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.- Returns:
- Last Error Code generated by a function.
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getMotorOutputLeadVoltage
Deprecated, for removal: This API element is subject to removal in a future version.Gets the simulated output voltage across M+ and M- for the motor.- Returns:
- applied voltage to the motor in volts
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setBusVoltage
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated bus voltage of the TalonFX.The minimum allowed bus voltage is 4 V - values below this will be promoted to 4 V.
- Parameters:
vbat
- the bus voltage in volts- Returns:
- error code
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setSupplyCurrent
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated supply current of the TalonFX.- Parameters:
currA
- the supply current in amps- Returns:
- error code
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setStatorCurrent
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated stator current of the TalonFX.- Parameters:
currA
- the stator current in amps- Returns:
- error code
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setLimitFwd
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated forward limit switch of the TalonFX.- Parameters:
isClosed
- true if the limit switch is closed- Returns:
- error code
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setLimitRev
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated reverse limit switch of the TalonFX.- Parameters:
isClosed
- true if the limit switch is closed- Returns:
- error code
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setIntegratedSensorRawPosition
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated raw integrated sensor position of the TalonFX.The TalonFX integrates this to calculate the true reported integrated sensor position.
When using the WPI Sim GUI, you will notice a readonly 'position' and settable 'rawPositionInput'. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to 'rawPositionInput' will be integrated into the emulated position. This way a simulator can modify the position without overriding your hardware API calls for home-ing your sensor.
Inputs to this function over time should be continuous, as user calls of setSelectedSensorPosition() and setIntegratedSensorPosition() will be accounted for in the calculation.
- Parameters:
newPos
- the new raw position in native units- Returns:
- error code
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addIntegratedSensorPosition
Deprecated, for removal: This API element is subject to removal in a future version.Adds to the simulated integrated sensor position of the TalonFX.- Parameters:
dPos
- the change in position in native units- Returns:
- error code
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setIntegratedSensorVelocity
Deprecated, for removal: This API element is subject to removal in a future version.Sets the simulated integrated sensor velocity of the TalonFX.- Parameters:
newVel
- the new velocity in native units per 100ms- Returns:
- error code
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