Package com.ctre.phoenix.motorcontrol.can

Class WPI_TalonFX

java.lang.Object
com.ctre.phoenix.motorcontrol.can.BaseMotorController
com.ctre.phoenix.motorcontrol.can.BaseTalon
com.ctre.phoenix.motorcontrol.can.TalonFX
com.ctre.phoenix.motorcontrol.can.WPI_TalonFX
All Implemented Interfaces:
IFollower, IMotorController, IMotorControllerEnhanced, IInvertable, IOutputSignal, Sendable, MotorController, AutoCloseable
@Deprecated(since="2024",
            forRemoval=true)
public class WPI_TalonFX
extends TalonFX
implements MotorController, Sendable, AutoCloseable
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.

CTRE Talon FX Motor Controller when used on CAN Bus.

  • Field Details

  • Constructor Details

    • WPI_TalonFX

      public WPI_TalonFX​(int deviceNumber, String canbus)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Constructor for motor controller
      Parameters:
      deviceNumber - device ID of motor controller
      canbus - Name of the CANbus; can be a CANivore device name or serial number. Pass in nothing or "rio" to use the roboRIO.

    • WPI_TalonFX

      public WPI_TalonFX​(int deviceNumber)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Constructor for motor controller
      Parameters:
      deviceNumber - device ID of motor controller

  • Method Details

    • close

      public void close()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Specified by:
      close in interface AutoCloseable

    • set

      public void set​(double speed)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Common interface for setting the speed of a simple speed controller.
      Specified by:
      set in interface MotorController
      Parameters:
      speed - The speed to set. Value should be between -1.0 and 1.0. Value is also saved for Get().

    • get

      public double get()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Common interface for getting the current set speed of a speed controller.
      Specified by:
      get in interface MotorController
      Returns:
      The current set speed. Value is between -1.0 and 1.0.

    • set

      public void set​(ControlMode mode, double value)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Sets the appropriate output on the talon, depending on the mode.
      Specified by:
      set in interface IMotorController
      Overrides:
      set in class BaseMotorController
      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​(ControlMode mode, double demand0, DemandType demand1Type, double demand1)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Specified by:
      set in interface IMotorController
      Overrides:
      set in class BaseMotorController
      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. 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. Units match the set mode. 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);

    • setVoltage

      public void setVoltage​(double outputVolts)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Sets the voltage output of the SpeedController. Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

      NOTE: This function *must* be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

      Specified by:
      setVoltage in interface MotorController
      Parameters:
      outputVolts - The voltage to output.

    • setInverted

      public void setInverted​(boolean isInverted)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Common interface for inverting direction of a speed controller.
      Specified by:
      setInverted in interface IInvertable
      Specified by:
      setInverted in interface IMotorController
      Specified by:
      setInverted in interface MotorController
      Overrides:
      setInverted in class BaseMotorController
      Parameters:
      isInverted - The state of inversion, true is inverted.

    • getInverted

      public boolean getInverted()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Common interface for returning the inversion state of a speed controller.
      Specified by:
      getInverted in interface IInvertable
      Specified by:
      getInverted in interface IMotorController
      Specified by:
      getInverted in interface MotorController
      Overrides:
      getInverted in class BaseMotorController
      Returns:
      The state of inversion, true is inverted.

    • disable

      public void disable()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Common interface for disabling a motor.
      Specified by:
      disable in interface MotorController

    • stopMotor

      public void stopMotor()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Common interface to stop the motor until Set is called again.
      Specified by:
      stopMotor in interface MotorController

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Initialize sendable
      Specified by:
      initSendable in interface Sendable
      Parameters:
      builder - Base sendable to build on

    • getDescription

      public String getDescription()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns:
      description of controller

    • feed

      public void feed()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Feed the motor safety object.

      Resets the timer on this object that is used to do the timeouts.

    • setExpiration

      public void setExpiration​(double expirationTime)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the expiration time for the corresponding motor safety object.
      Parameters:
      expirationTime - The timeout value in seconds.

    • getExpiration

      public double getExpiration()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Retrieve the timeout value for the corresponding motor safety object.
      Returns:
      the timeout value in seconds.

    • isAlive

      public boolean isAlive()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Determine of the motor is still operating or has timed out.
      Returns:
      a true value if the motor is still operating normally and hasn't timed out.

    • setSafetyEnabled

      public void setSafetyEnabled​(boolean enabled)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Enable/disable motor safety for this device.

      Turn on and off the motor safety option for this PWM object.

      Parameters:
      enabled - True if motor safety is enforced for this object

    • isSafetyEnabled

      public boolean isSafetyEnabled()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Return the state of the motor safety enabled flag.

      Return if the motor safety is currently enabled for this device.

      Returns:
      True if motor safety is enforced for this device