Package com.ctre.phoenix.motorcontrol.can

Class BaseTalonConfiguration

java.lang.Object

com.ctre.phoenix.CustomParamConfiguration

com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration

com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration

Direct Known Subclasses:

TalonFXConfiguration, TalonSRXConfiguration

public class BaseTalonConfiguration
extends BaseMotorControllerConfiguration

Configurables available to TalonSRX

Field Summary

Fields

Modifier and Type	Field	Description
BaseTalonPIDSetConfiguration	auxiliaryPID	Auxiliary PID configuration
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.
int	forwardLimitSwitchDeviceID	Forward limit switch device ID Limit Switch device id isn't used unless device is a remote
LimitSwitchNormal	forwardLimitSwitchNormal	Forward limit switch normally open/closed
LimitSwitchSource	forwardLimitSwitchSource	Forward Limit Switch Source User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
BaseTalonPIDSetConfiguration	primaryPID	Primary PID configuration
int	reverseLimitSwitchDeviceID	Reverse limit switch device ID Limit Switch device id isn't used unless device is a remote
LimitSwitchNormal	reverseLimitSwitchNormal	Reverse limit switch normally open/closed
LimitSwitchSource	reverseLimitSwitchSource	Reverse Limit Switch Source User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
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.

Fields inherited from class com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration

auxPIDPolarity, clearPositionOnLimitF, clearPositionOnLimitR, clearPositionOnQuadIdx, closedloopRamp, feedbackNotContinuous, forwardSoftLimitEnable, forwardSoftLimitThreshold, limitSwitchDisableNeutralOnLOS, motionAcceleration, motionCruiseVelocity, motionCurveStrength, motionProfileTrajectoryPeriod, neutralDeadband, nominalOutputForward, nominalOutputReverse, openloopRamp, peakOutputForward, peakOutputReverse, pulseWidthPeriod_EdgesPerRot, pulseWidthPeriod_FilterWindowSz, remoteFilter0, remoteFilter1, remoteSensorClosedLoopDisableNeutralOnLOS, reverseSoftLimitEnable, reverseSoftLimitThreshold, slot0, slot1, slot2, slot3, softLimitDisableNeutralOnLOS, trajectoryInterpolationEnable, velocityMeasurementPeriod, velocityMeasurementWindow, voltageCompSaturation, voltageMeasurementFilter

Fields inherited from class com.ctre.phoenix.CustomParamConfiguration

customParam0, customParam1, enableOptimizations

Constructor Summary

Constructors

Constructor	Description
BaseTalonConfiguration(FeedbackDevice defaultFeedbackDevice)

Method Summary

Modifier and Type	Method	Description
String	toString()
String	toString(String prependString)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

primaryPID

public BaseTalonPIDSetConfiguration primaryPID

Primary PID configuration

auxiliaryPID

public BaseTalonPIDSetConfiguration auxiliaryPID

Auxiliary PID configuration

forwardLimitSwitchSource

public LimitSwitchSource forwardLimitSwitchSource

Forward Limit Switch Source User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature

reverseLimitSwitchSource

public LimitSwitchSource reverseLimitSwitchSource

Reverse Limit Switch Source User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature

forwardLimitSwitchDeviceID

public int forwardLimitSwitchDeviceID

Forward limit switch device ID Limit Switch device id isn't used unless device is a remote

reverseLimitSwitchDeviceID

public int reverseLimitSwitchDeviceID

Reverse limit switch device ID Limit Switch device id isn't used unless device is a remote

forwardLimitSwitchNormal

public LimitSwitchNormal forwardLimitSwitchNormal

Forward limit switch normally open/closed

reverseLimitSwitchNormal

public LimitSwitchNormal reverseLimitSwitchNormal

Reverse limit switch normally open/closed

sum0Term

public FeedbackDevice 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 (see below).

configs.sum0Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.sum0Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

sum1Term

public FeedbackDevice 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 (see below).

configs.sum1Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.sum1Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

diff0Term

public FeedbackDevice 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 (see below).

configs.diff0Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.diff0Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

diff1Term

public FeedbackDevice 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 (see below).

configs.diff1Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.diff1Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

Constructor Details

BaseTalonConfiguration

public BaseTalonConfiguration(FeedbackDevice defaultFeedbackDevice)

Method Details

toString

public String toString()

Overrides:

toString in class BaseMotorControllerConfiguration

Returns:

String representation of all the configs

toString

public String toString(String prependString)

Overrides:

toString in class BaseMotorControllerConfiguration

Parameters:

prependString - String to prepend to all the configs

Returns:

String representation of all the configs