Package com.ctre.phoenix.motorcontrol.can

Class TalonFXConfiguration

java.lang.Object
com.ctre.phoenix.CustomParamConfiguration
com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration
com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration
com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration
@Deprecated(since="2024",
            forRemoval=true)
public class TalonFXConfiguration
extends BaseTalonConfiguration
Deprecated, for removal: This API element is subject to removal in a future version.
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.

Configurables available to TalonFX

  • Field Details

    • supplyCurrLimit

      public SupplyCurrentLimitConfiguration supplyCurrLimit
      Deprecated, for removal: This API element is subject to removal in a future version.
      Supply-side current limiting. This is typically used to prevent breakers from tripping.

    • statorCurrLimit

      public StatorCurrentLimitConfiguration statorCurrLimit
      Deprecated, for removal: This API element is subject to removal in a future version.
      Stator-side current limiting. This is typically used to limit acceleration/torque and heat generation.

    • motorCommutation

      public MotorCommutation motorCommutation
      Deprecated, for removal: This API element is subject to removal in a future version.
      Choose the type of motor commutation.

    • absoluteSensorRange

      public AbsoluteSensorRange absoluteSensorRange
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

    • integratedSensorOffsetDegrees

      public double integratedSensorOffsetDegrees
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

    • initializationStrategy

      public SensorInitializationStrategy initializationStrategy
      Deprecated, for removal: This API element is subject to removal in a future version.
      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.

  • Constructor Details

  • Method Details