Package com.ctre.phoenix.motorcontrol.can

Class TalonSRX

java.lang.Object
com.ctre.phoenix.motorcontrol.can.BaseMotorController
com.ctre.phoenix.motorcontrol.can.BaseTalon
com.ctre.phoenix.motorcontrol.can.TalonSRX
All Implemented Interfaces:
IFollower, IMotorController, IMotorControllerEnhanced, IInvertable, IOutputSignal
Direct Known Subclasses:
WPI_TalonSRX
public class TalonSRX
extends BaseTalon
CTRE Talon SRX Motor Controller when used on CAN Bus. 
 
 // Example usage of a TalonSRX motor controller
 TalonSRX motor = new TalonSRX(0); // creates a new TalonSRX with ID 0

 TalonSRXConfiguration config = new TalonSRXConfiguration();
 config.peakCurrentLimit = 40; // the peak current, in amps
 config.peakCurrentDuration = 1500; // the time at the peak current before the limit triggers, in ms
 config.continuousCurrentLimit = 30; // the current to maintain if the peak limit is triggered
 motor.configAllSettings(config); // apply the config settings; this selects the quadrature encoder

 motor.set(TalonSRXControlMode.PercentOutput, 0.5); // runs the motor at 50% power

 System.out.println(motor.getSelectedSensorPosition()); // prints the position of the selected sensor
 System.out.println(motor.getSelectedSensorVelocity()); // prints the velocity recorded by the selected sensor
 System.out.println(motor.getMotorOutputPercent()); // prints the percent output of the motor (0.5)
 System.out.println(motor.getStatorCurrent()); // prints the output current of the motor

 ErrorCode error = motor.getLastError(); // gets the last error generated by the motor controller
 Faults faults = new Faults();
 ErrorCode faultsError = motor.getFaults(faults); // fills faults with the current motor controller faults; returns the last error generated

 motor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 10); // changes the period of the Status 2 frame (getSelectedSensor*()) to 10ms

  • Constructor Details

    • TalonSRX

      public TalonSRX​(int deviceNumber)
      Constructor for TalonSRX object
      Parameters:
      deviceNumber - CAN Device ID of Device

  • Method Details

    • set

      public void set​(TalonSRXControlMode mode, double value)
      Sets the appropriate output on the talon, depending on the mode.
      Parameters:
      mode - The output mode to apply. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. In Follower mode, the output value is the integer device ID of the talon to duplicate.
      value - The setpoint value, as described above. Standard Driving Example: _talonLeft.set(ControlMode.PercentOutput, leftJoy); _talonRght.set(ControlMode.PercentOutput, rghtJoy);

    • set

      public void set​(TalonSRXControlMode mode, double demand0, DemandType demand1Type, double demand1)
      Parameters:
      mode - Sets the appropriate output on the talon, depending on the mode.
      demand0 - The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See In Follower mode, the output value is the integer device ID of the talon to duplicate.
      demand1Type - The demand type for demand1. Neutral: Ignore demand1 and apply no change to the demand0 output. AuxPID: Use demand1 to set the target for the auxiliary PID 1. Auxiliary PID is always executed as standard Position PID control. ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the demand0 output. In PercentOutput the demand0 output is the motor output, and in closed-loop modes the demand0 output is the output of PID0.
      demand1 - Supplmental output value. AuxPID: Target position in Sensor Units ArbitraryFeedForward: Percent Output between -1.0 and 1.0 Arcade Drive Example: _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn); Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading); Drive Straight to a Distance Example: Note: Other configurations (sensor selection, PID gains, etc.) need to be set. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);

    • getSensorCollection

      public SensorCollection getSensorCollection()
      Returns:
      object that can get/set individual raw sensor values.

    • getSimCollection

      public TalonSRXSimCollection getSimCollection()
      Returns:
      object that can get/set simulation inputs.

    • configSelectedFeedbackSensor

      public ErrorCode configSelectedFeedbackSensor​(TalonSRXFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)
      Select the feedback device for the motor controller.
      Parameters:
      feedbackDevice - Talon SRX Feedback Device to select.
      pidIdx - 0 for Primary closed-loop. 1 for auxiliary closed-loop.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configSupplyCurrentLimit

      public ErrorCode configSupplyCurrentLimit​(SupplyCurrentLimitConfiguration currLimitConfigs, int timeoutMs)
      Configures the supply (input) current limit.
      Specified by:
      configSupplyCurrentLimit in interface IMotorControllerEnhanced
      Overrides:
      configSupplyCurrentLimit in class BaseTalon
      Parameters:
      currLimitConfigs - Current limit configuration
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configSupplyCurrentLimit

      public ErrorCode configSupplyCurrentLimit​(SupplyCurrentLimitConfiguration currLimitConfigs)
      Configures the supply (input) current limit.
      Parameters:
      currLimitConfigs - Current limit configuration
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configPeakCurrentLimit

      public ErrorCode configPeakCurrentLimit​(int amps, int timeoutMs)
      Configure the peak allowable current (when current limit is enabled). Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX. 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. For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
      Parameters:
      amps - Amperes to limit.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configPeakCurrentLimit

      public ErrorCode configPeakCurrentLimit​(int amps)
      Configure the peak allowable current (when current limit is enabled). Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX. 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. For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
      Parameters:
      amps - Amperes to limit.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configPeakCurrentDuration

      public ErrorCode configPeakCurrentDuration​(int milliseconds, int timeoutMs)
      Configure the peak allowable duration (when current limit is enabled). Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX. 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. For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
      Parameters:
      milliseconds - How long to allow current-draw past peak limit.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configPeakCurrentDuration

      public ErrorCode configPeakCurrentDuration​(int milliseconds)
      Configure the peak allowable duration (when current limit is enabled). Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX. 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. For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
      Parameters:
      milliseconds - How long to allow current-draw past peak limit.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configContinuousCurrentLimit

      public ErrorCode configContinuousCurrentLimit​(int amps, int timeoutMs)
      Configure the continuous allowable current-draw (when current limit is enabled). Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX. 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. For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
      Parameters:
      amps - Amperes to limit.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configContinuousCurrentLimit

      public ErrorCode configContinuousCurrentLimit​(int amps)
      Configure the continuous allowable current-draw (when current limit is enabled). Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX. 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. For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
      Parameters:
      amps - Amperes to limit.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • enableCurrentLimit

      public void enableCurrentLimit​(boolean enable)
      Enable or disable Current Limit. Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
      Parameters:
      enable - Enable state of current limit.
      See Also:
      configPeakCurrentLimit(int,int), configPeakCurrentDuration(int,int), configContinuousCurrentLimit(int,int)

    • configurePID

      protected ErrorCode configurePID​(TalonSRXPIDSetConfiguration pid, int pidIdx, int timeoutMs)
      Configures all PID set persistent settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).
      Parameters:
      pid - Object with all of the PID set persistant settings
      pidIdx - 0 for Primary closed-loop. 1 for auxiliary closed-loop.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configurePID

      protected ErrorCode configurePID​(TalonSRXPIDSetConfiguration pid)
      Configures all PID set persistent settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).
      Parameters:
      pid - Object with all of the PID set persistant settings
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getPIDConfigs

      public void getPIDConfigs​(TalonSRXPIDSetConfiguration pid, int pidIdx, int timeoutMs)
      Gets all PID set persistant settings.
      Parameters:
      pid - Object with all of the PID set persistant settings
      pidIdx - 0 for Primary closed-loop. 1 for auxiliary closed-loop.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

    • getPIDConfigs

      public void getPIDConfigs​(TalonSRXPIDSetConfiguration pid)
      Gets all PID set persistant settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).
      Parameters:
      pid - Object with all of the PID set persistant settings

    • configAllSettings

      public ErrorCode configAllSettings​(TalonSRXConfiguration allConfigs, int timeoutMs)
      Configures all persistent settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configAllSettings

      public ErrorCode configAllSettings​(TalonSRXConfiguration allConfigs)
      Configures all persistent settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getAllConfigs

      public void getAllConfigs​(TalonSRXConfiguration allConfigs, int timeoutMs)
      Gets all persistant settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

    • getAllConfigs

      public void getAllConfigs​(TalonSRXConfiguration allConfigs)
      Gets all persistant settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings