Package com.ctre.phoenix.music

Class Orchestra

java.lang.Object
com.ctre.phoenix.music.Orchestra
public class Orchestra
extends Object
An Orchestra is used to play music through Talon FX motor controllers. It uses a "Chirp" (.chrp) music file that can be generated using Phoenix Tuner. Chirp files are generated from standard MIDI files. Each Talon FX can only play a single track within the music file. For multi-track files, multiple Talon FXs are needed. ie, The first track will be played through the first Talon FX added, the second track will be played through the second Talon FX added, etc. Any Chirp file located in the src/main/deploy directory of your FRC project will automatically be copied to the roboRIO on code deploy. To use the Orchestra: - Add the Talon FXs to be used as instruments - Load the Chirp file to be played using the loadMusic routine. Both of these can also be done in the Orchestra constructor. Once ready, the Orchestra can be controlled using standard play/pause/stop routines. New music files can be loaded at any time. The robot must be enabled to play music. Calling set on any of the TalonFX instruments while the orchestra is playing will pause the orchestra.

  • Constructor Details

    • Orchestra

      public Orchestra()
      Constructor for an Orchestra Object. Call AddInstrument after this to add the instruments.

    • Orchestra

      public Orchestra​(Collection<TalonFX> instruments)
      Constructor for an Orchestra Object.
      Parameters:
      instruments - A collection of TalonFX's that will be used as instruments inside the orchestra.

    • Orchestra

      public Orchestra​(Collection<TalonFX> instruments, String filePath)
      Constructor for an Orchestra Object
      Parameters:
      instruments - A collection of TalonFX's that will be used as instruments inside the orchestra.
      filePath - The path to the music file to immediately load into the orchestra.

  • Method Details

    • loadMusic

      public ErrorCode loadMusic​(String filePath)
      Loads a Chirp file at the specified file path. If the Chirp file is inside your "src/main/deploy" directory this file will be automatically deployed to a default directory in the RoboRIO when you deploy code. For these files, the name and file extension is sufficient. Use Tuner to create a Chirp file.
      Parameters:
      filePath - The path to the Chirp File.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • play

      public ErrorCode play()
      Plays the music file that's loaded. If the player is paused, this will resume. This will also resume a song if the orchestra was interrupted.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • stop

      public ErrorCode stop()
      Stops the music file that's loaded. This resets the current position in the track to the start.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • pause

      public ErrorCode pause()
      Pauses the music file that's loaded. This saves the current position in the track, so it can be resumed later. Pausing while stopped is an invalid request.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • isPlaying

      public boolean isPlaying()
      Returns whether the current track is actively playing or not
      Returns:
      True if playing, false otherwise

    • getCurrentTime

      public int getCurrentTime()
      Returns:
      The current timestamp of the music file (playing or paused) in milliseconds. The timestamp will reset to zero whenever loadMusic() or stop() is called. If isPlaying() returns false, this routine can be used to determine if music is stopped or paused.

    • clearInstruments

      public ErrorCode clearInstruments()
      Clears all instruments in the orchestra.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • addInstrument

      public ErrorCode addInstrument​(TalonFX instrument)
      Adds another instrument to the orchestra.
      Parameters:
      instrument - TalonFX to add to orchestra
      Returns:
      Error Code generated by function. 0 indicates no error.