CTRE Talon SRX Motor Controller when used on CAN Bus. More...

#include <ctre/phoenix/motorcontrol/can/BaseTalon.h>

Inheritance diagram for ctre::phoenix::motorcontrol::can::BaseTalon:

Public Member Functions
	BaseTalon (int deviceNumber, const char *model, std::string const &canbus="")
	Constructor for a Talon.

virtual	~BaseTalon ()

	BaseTalon ()=delete

	BaseTalon (BaseTalon const &)=delete

BaseTalon &	operator= (BaseTalon const &)=delete

virtual ctre::phoenix::ErrorCode	ConfigSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)
	Select the remote feedback device for the motor controller.

virtual ctre::phoenix::ErrorCode	ConfigSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)
	Select the remote feedback device for the motor controller.

virtual ctre::phoenix::ErrorCode	SetStatusFramePeriod (StatusFrameEnhanced frame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

virtual ctre::phoenix::ErrorCode	SetStatusFramePeriod (StatusFrame frame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

virtual int	GetStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs=0)
	Gets the period of the given status frame.

virtual int	GetStatusFramePeriod (StatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame.

virtual double	GetOutputCurrent ()
	Gets the output current of the motor controller.

double	GetStatorCurrent ()
	Gets the stator/output current of the motor controller.

double	GetSupplyCurrent ()
	Gets the supply/input current of the motor controller.

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementPeriod (ctre::phoenix::sensors::SensorVelocityMeasPeriod period, int timeoutMs=0)
	Configures the period of each velocity sample.

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)
	Sets the number of velocity samples used in the rolling average velocity measurement.

virtual ctre::phoenix::ErrorCode	ConfigForwardLimitSwitchSource (LimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)
	Configures a limit switch for a local/remote source.

virtual ctre::phoenix::ErrorCode	ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)
	Configures a limit switch for a local/remote source.

virtual ctre::phoenix::ErrorCode	ConfigReverseLimitSwitchSource (LimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)
	Configures a limit switch for a local/remote source.

virtual ctre::phoenix::ErrorCode	ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)
	Configures a limit switch for a local/remote source.

virtual ctre::phoenix::ErrorCode	ConfigSupplyCurrentLimit (const SupplyCurrentLimitConfiguration &currLimitConfigs, int timeoutMs=50)
	Configures the supply-side current limit.

int	IsFwdLimitSwitchClosed ()
	Is forward limit switch closed.

int	IsRevLimitSwitchClosed ()
	Is reverse limit switch closed.

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
	BaseMotorController (int deviceNumber, const char *model, std::string const &canbus="")
	Constructor for motor controllers.

virtual	~BaseMotorController ()

	BaseMotorController ()=delete

	BaseMotorController (BaseMotorController const &)=delete

BaseMotorController &	operator= (BaseMotorController const &)=delete

virtual int	GetDeviceID ()
	Returns the Device ID.

virtual void	Set (ControlMode mode, double value)
	Sets the appropriate output on the talon, depending on the mode.

virtual void	Set (ControlMode mode, double demand0, DemandType demand1Type, double demand1)

virtual void	NeutralOutput ()
	Neutral the motor output by setting control mode to disabled.

virtual void	SetNeutralMode (NeutralMode neutralMode)
	Sets the mode of operation during neutral throttle output.

virtual void	SetSensorPhase (bool PhaseSensor)
	Sets the phase of the sensor.

virtual void	SetInverted (bool invert)
	Inverts the hbridge output of the motor controller.

virtual void	SetInverted (InvertType invertType)
	Inverts the hbridge output of the motor controller in relation to the master if present.

virtual bool	GetInverted () const

virtual ctre::phoenix::ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Revert all configurations to factory default values.

virtual ctre::phoenix::ErrorCode	ConfigOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)
	Configures the open-loop ramp rate of throttle output.

virtual ctre::phoenix::ErrorCode	ConfigClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)
	Configures the closed-loop ramp rate of throttle output.

virtual ctre::phoenix::ErrorCode	ConfigPeakOutputForward (double percentOut, int timeoutMs=0)
	Configures the forward peak output percentage.

virtual ctre::phoenix::ErrorCode	ConfigPeakOutputReverse (double percentOut, int timeoutMs=0)
	Configures the reverse peak output percentage.

virtual ctre::phoenix::ErrorCode	ConfigNominalOutputForward (double percentOut, int timeoutMs=0)
	Configures the forward nominal output percentage.

virtual ctre::phoenix::ErrorCode	ConfigNominalOutputReverse (double percentOut, int timeoutMs=0)
	Configures the reverse nominal output percentage.

virtual ctre::phoenix::ErrorCode	ConfigNeutralDeadband (double percentDeadband, int timeoutMs=0)
	Configures the output deadband percentage.

virtual ctre::phoenix::ErrorCode	ConfigVoltageCompSaturation (double voltage, int timeoutMs=0)
	Configures the Voltage Compensation saturation voltage.

virtual ctre::phoenix::ErrorCode	ConfigVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs=0)
	Configures the voltage measurement filter.

virtual void	EnableVoltageCompensation (bool enable)
	Enables voltage compensation.

virtual bool	IsVoltageCompensationEnabled ()
	Returns the enable state of Voltage Compensation that the caller has set.

virtual double	GetBusVoltage ()
	Gets the bus voltage seen by the device.

virtual double	GetMotorOutputPercent ()
	Gets the output percentage of the motor controller.

virtual double	GetMotorOutputVoltage ()

virtual double	GetTemperature ()
	Gets the temperature of the motor controller.

virtual ctre::phoenix::ErrorCode	ConfigSelectedFeedbackCoefficient (double coefficient, int pidIdx=0, int timeoutMs=0)
	The Feedback Coefficient is a scalar applied to the value of the feedback sensor.

virtual ctre::phoenix::ErrorCode	ConfigRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs=0)
	Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.

virtual ErrorCode	ConfigRemoteFeedbackFilter (ctre::phoenix::motorcontrol::can::BaseTalon &talonRef, int remoteOrdinal, int timeoutMs=0)
	Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.

virtual ctre::phoenix::ErrorCode	ConfigSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs=0)
	Select what sensor term should be bound to switch feedback device.

virtual ctre::phoenix::ErrorCode	ConfigSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice, int timeoutMs=0)
	Select what sensor term should be bound to switch feedback device.

virtual double	GetSelectedSensorPosition (int pidIdx=0)
	Get the selected sensor position (in raw sensor units).

virtual double	GetSelectedSensorVelocity (int pidIdx=0)
	Get the selected sensor velocity.

virtual ctre::phoenix::ErrorCode	SetSelectedSensorPosition (double sensorPos, int pidIdx=0, int timeoutMs=50)
	Sets the sensor position to the given value.

virtual ctre::phoenix::ErrorCode	SetControlFramePeriod (ControlFrame frame, int periodMs)
	Sets the period of the given control frame.

void	OverrideLimitSwitchesEnable (bool enable)
	Sets the enable state for limit switches.

virtual ctre::phoenix::ErrorCode	ConfigForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs=0)
	Configures the forward soft limit threhold.

virtual ctre::phoenix::ErrorCode	ConfigReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs=0)
	Configures the reverse soft limit threshold.

virtual ctre::phoenix::ErrorCode	ConfigForwardSoftLimitEnable (bool enable, int timeoutMs=0)
	Configures the forward soft limit enable.

virtual ctre::phoenix::ErrorCode	ConfigReverseSoftLimitEnable (bool enable, int timeoutMs=0)
	Configures the reverse soft limit enable.

virtual void	OverrideSoftLimitsEnable (bool enable)
	Can be used to override-disable the soft limits.

virtual ctre::phoenix::ErrorCode	Config_kP (int slotIdx, double value, int timeoutMs=0)
	Sets the 'P' constant in the given parameter slot.

virtual ctre::phoenix::ErrorCode	Config_kI (int slotIdx, double value, int timeoutMs=0)
	Sets the 'I' constant in the given parameter slot.

virtual ctre::phoenix::ErrorCode	Config_kD (int slotIdx, double value, int timeoutMs=0)
	Sets the 'D' constant in the given parameter slot.

virtual ctre::phoenix::ErrorCode	Config_kF (int slotIdx, double value, int timeoutMs=0)
	Sets the 'F' constant in the given parameter slot.

virtual ctre::phoenix::ErrorCode	Config_IntegralZone (int slotIdx, double izone, int timeoutMs=0)
	Sets the Integral Zone constant in the given parameter slot.

virtual ctre::phoenix::ErrorCode	ConfigAllowableClosedloopError (int slotIdx, double allowableCloseLoopError, int timeoutMs=0)
	Sets the allowable closed-loop error in the given parameter slot.

virtual ctre::phoenix::ErrorCode	ConfigMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs=0)
	Sets the maximum integral accumulator in the given parameter slot.

virtual ctre::phoenix::ErrorCode	ConfigClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs=0)
	Sets the peak closed-loop output.

virtual ctre::phoenix::ErrorCode	ConfigClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs=0)
	Sets the loop time (in milliseconds) of the PID closed-loop calculations.

virtual ctre::phoenix::ErrorCode	ConfigAuxPIDPolarity (bool invert, int timeoutMs=0)
	Configures the Polarity of the Auxiliary PID (PID1).

ctre::phoenix::ErrorCode	ConfigureSlot (const SlotConfiguration &slot, int slotIdx, int timeoutMs)
	Configures all slot persistant settings.

virtual ctre::phoenix::ErrorCode	SetIntegralAccumulator (double iaccum, int pidIdx=0, int timeoutMs=0)
	Sets the integral accumulator.

virtual double	GetClosedLoopError (int pidIdx=0)
	Gets the closed-loop error.

virtual double	GetIntegralAccumulator (int pidIdx=0)
	Gets the iaccum value.

virtual double	GetErrorDerivative (int pidIdx=0)
	Gets the derivative of the closed-loop error.

virtual ctre::phoenix::ErrorCode	SelectProfileSlot (int slotIdx, int pidIdx)
	Selects which profile slot to use for closed-loop control.

virtual double	GetClosedLoopTarget (int pidIdx=0)
	Gets the current target of a given closed loop.

virtual double	GetActiveTrajectoryPosition (int pidIdx=0)
	Gets the active trajectory target position using MotionMagic/MotionProfile control modes.

virtual double	GetActiveTrajectoryVelocity (int pidIdx=0)
	Gets the active trajectory target velocity using MotionMagic/MotionProfile control modes.

virtual double	GetActiveTrajectoryArbFeedFwd (int pidIdx=0)
	Gets the active trajectory arbitrary feedforward using MotionMagic/MotionProfile control modes.

virtual ctre::phoenix::ErrorCode	ConfigMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs=0)
	Sets the Motion Magic Cruise Velocity.

virtual ctre::phoenix::ErrorCode	ConfigMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs=0)
	Sets the Motion Magic Acceleration.

virtual ctre::phoenix::ErrorCode	ConfigMotionSCurveStrength (int curveStrength, int timeoutMs=0)
	Sets the Motion Magic S Curve Strength.

virtual ErrorCode	ClearMotionProfileTrajectories ()
	Clear the buffered motion profile in both controller's RAM (bottom), and in the API (top).

virtual int	GetMotionProfileTopLevelBufferCount ()
	Retrieve just the buffer count for the api-level (top) buffer.

virtual ctre::phoenix::ErrorCode	PushMotionProfileTrajectory (const ctre::phoenix::motion::TrajectoryPoint &trajPt)
	Push another trajectory point into the top level buffer (which is emptied into the motor controller's bottom buffer as room allows).

virtual ctre::phoenix::ErrorCode	StartMotionProfile (ctre::phoenix::motion::BufferedTrajectoryPointStream &stream, uint32_t minBufferedPts, ControlMode motionProfControlMode)
	Simple one-shot firing of a complete MP.

virtual bool	IsMotionProfileFinished ()
	Determine if running MP is complete.

virtual bool	IsMotionProfileTopLevelBufferFull ()
	Retrieve just the buffer full for the api-level (top) buffer.

virtual void	ProcessMotionProfileBuffer ()
	This must be called periodically to funnel the trajectory points from the API's top level buffer to the controller's bottom level buffer.

virtual ctre::phoenix::ErrorCode	GetMotionProfileStatus (ctre::phoenix::motion::MotionProfileStatus &statusToFill)
	Retrieve all status information.

virtual ctre::phoenix::ErrorCode	ClearMotionProfileHasUnderrun (int timeoutMs=0)
	Clear the "Has Underrun" flag.

virtual ctre::phoenix::ErrorCode	ChangeMotionControlFramePeriod (int periodMs)
	Calling application can opt to speed up the handshaking between the robot API and the controller to increase the download rate of the controller's Motion Profile.

virtual ctre::phoenix::ErrorCode	ConfigMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs=0)
	When trajectory points are processed in the motion profile executer, the MPE determines how long to apply the active trajectory point by summing baseTrajDurationMs with the timeDur of the trajectory point (see TrajectoryPoint).

virtual ctre::phoenix::ErrorCode	ConfigMotionProfileTrajectoryInterpolationEnable (bool enable, int timeoutMs=0)
	When trajectory points are processed in the buffer, the motor controller can linearly interpolate additional trajectory points between the buffered points.

virtual ErrorCode	ConfigFeedbackNotContinuous (bool feedbackNotContinuous, int timeoutMs=0)
	Disables continuous tracking of the position for analog and pulse-width.

virtual ErrorCode	ConfigRemoteSensorClosedLoopDisableNeutralOnLOS (bool remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs=0)
	Disables going to neutral (brake/coast) when a remote sensor is no longer detected.

virtual ErrorCode	ConfigClearPositionOnLimitF (bool clearPositionOnLimitF, int timeoutMs=0)
	Enables clearing the position of the feedback sensor when the forward limit switch is triggered.

virtual ErrorCode	ConfigClearPositionOnLimitR (bool clearPositionOnLimitR, int timeoutMs=0)
	Enables clearing the position of the feedback sensor when the reverse limit switch is triggered.

virtual ErrorCode	ConfigClearPositionOnQuadIdx (bool clearPositionOnQuadIdx, int timeoutMs=0)
	Enables clearing the position of the feedback sensor when the quadrature index signal is detected.

virtual ErrorCode	ConfigLimitSwitchDisableNeutralOnLOS (bool limitSwitchDisableNeutralOnLOS, int timeoutMs=0)
	Disables limit switches triggering (if enabled) when the sensor is no longer detected.

virtual ErrorCode	ConfigSoftLimitDisableNeutralOnLOS (bool softLimitDisableNeutralOnLOS, int timeoutMs=0)
	Disables soft limits triggering (if enabled) when the sensor is no longer detected.

virtual ErrorCode	ConfigPulseWidthPeriod_EdgesPerRot (int pulseWidthPeriod_EdgesPerRot, int timeoutMs=0)
	Sets the edges per rotation of a pulse width sensor.

virtual ErrorCode	ConfigPulseWidthPeriod_FilterWindowSz (int pulseWidthPeriod_FilterWindowSz, int timeoutMs=0)
	Sets the number of samples to use in smoothing a pulse width sensor with a rolling average.

virtual ctre::phoenix::ErrorCode	GetLastError ()
	Gets the last error generated by this object.

virtual ctre::phoenix::ErrorCode	GetFaults (Faults &toFill)
	Polls the various fault flags.

virtual ctre::phoenix::ErrorCode	GetStickyFaults (StickyFaults &toFill)
	Polls the various sticky fault flags.

virtual ctre::phoenix::ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears all sticky faults.

virtual int	GetFirmwareVersion ()
	Gets the firmware version of the device.

virtual bool	HasResetOccurred ()
	Returns true if the device has reset since last call.

virtual ctre::phoenix::ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter.

virtual int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter.

virtual ctre::phoenix::ErrorCode	ConfigSetParameter (ctre::phoenix::ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter.

virtual double	ConfigGetParameter (ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter.

virtual ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)
	Gets a parameter by passing an int by reference.

virtual int	GetBaseID ()

virtual ControlMode	GetControlMode ()

void	Follow (IMotorController &masterToFollow, ctre::phoenix::motorcontrol::FollowerType followerType)
	Set the control mode and output value so that this motor controller will follow another motor controller.

virtual void	Follow (IMotorController &masterToFollow)
	Set the control mode and output value so that this motor controller will follow another motor controller.

virtual void	ValueUpdated ()
	When master makes a device, this routine is called to signal the update.

void	GetSlotConfigs (SlotConfiguration &slot, int slotIdx=0, int timeoutMs=50)
	Gets all slot persistant settings.

void	GetFilterConfigs (FilterConfiguration &Filter, int ordinal=0, int timeoutMs=50)
	Gets all filter persistant settings.

void *	GetHandle ()

Public Member Functions inherited from ctre::phoenix::motorcontrol::IMotorController
virtual	~IMotorController ()

Public Member Functions inherited from ctre::phoenix::motorcontrol::IFollower
virtual	~IFollower ()

Public Member Functions inherited from ctre::phoenix::motorcontrol::IMotorControllerEnhanced
virtual	~IMotorControllerEnhanced ()

Protected Member Functions
ctre::phoenix::motorcontrol::SensorCollection &	GetTalonSRXSensorCollection ()

ctre::phoenix::motorcontrol::TalonSRXSimCollection &	GetTalonSRXSimCollection ()

ctre::phoenix::ErrorCode	ConfigurePID (const BaseTalonPIDSetConfiguration &pid, int pidIdx, int timeoutMs, bool enableOptimizations)

void	GetPIDConfigs (BaseTalonPIDSetConfiguration &pid, int pidIdx=0, int timeoutMs=50)
	Gets all PID set persistant settings.

ctre::phoenix::ErrorCode	BaseTalonConfigAllSettings (const BaseTalonConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings.

void	BaseTalonGetAllConfigs (BaseTalonConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings.

Protected Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
ctre::phoenix::motorcontrol::VictorSPXSimCollection &	GetVictorSPXSimCollection ()

virtual ctre::phoenix::ErrorCode	BaseConfigAllSettings (const BaseMotorControllerConfiguration &allConfigs, int timeoutMs)
	Configures all base persistant settings.

virtual void	BaseGetAllConfigs (BaseMotorControllerConfiguration &allConfigs, int timeoutMs)
	Gets all base persistant settings.

virtual void	BaseGetPIDConfigs (BasePIDSetConfiguration &pid, int pidIdx, int timeoutMs)
	Gets all base PID set persistant settings.

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
static void	DestroyAllMotControllers ()
	Destructs all motor controller objects.

Detailed Description

CTRE Talon SRX Motor Controller when used on CAN Bus.

Constructor & Destructor Documentation

◆ BaseTalon() [1/3]

ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalon	(	int	deviceNumber,
		const char *	model,
		std::string const &	canbus = "" )

Constructor for a Talon.

Parameters

deviceNumber	CAN Device ID of BaseTalon
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

◆ ~BaseTalon()

virtual ctre::phoenix::motorcontrol::can::BaseTalon::~BaseTalon ( )

virtual

◆ BaseTalon() [2/3]

ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalon ( )

delete

◆ BaseTalon() [3/3]

ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalon ( BaseTalon const & )

delete

Member Function Documentation

◆ BaseTalonConfigAllSettings()

ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalonConfigAllSettings	(	const BaseTalonConfiguration &	allConfigs,
		int	timeoutMs = 50 )

protected

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.

◆ BaseTalonGetAllConfigs()

void ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalonGetAllConfigs	(	BaseTalonConfiguration &	allConfigs,
		int	timeoutMs = 50 )

protected

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.

◆ ConfigForwardLimitSwitchSource() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigForwardLimitSwitchSource	(	LimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = 0 )

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource	Limit switch source. User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigForwardLimitSwitchSource() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigForwardLimitSwitchSource	(	RemoteLimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = 0 )

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource	Limit switch source. User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
deviceID	Device ID of remote source (Talon SRX or CANifier device ID).
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigReverseLimitSwitchSource() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigReverseLimitSwitchSource	(	LimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = 0 )

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource Limit switch source.

See also: LimitSwitchSource User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.

Parameters

normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigReverseLimitSwitchSource() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigReverseLimitSwitchSource	(	RemoteLimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = 0 )

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource Limit switch source.

See also: LimitSwitchSource User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.

Parameters

normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
deviceID	Device ID of remote source (Talon SRX or CANifier device ID).
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigSelectedFeedbackSensor() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigSelectedFeedbackSensor	(	FeedbackDevice	feedbackDevice,
		int	pidIdx = 0,
		int	timeoutMs = 0 )

virtual

Select the remote feedback device for the motor controller.

Most CTRE CAN motor controllers will support remote sensors over CAN.

Parameters

feedbackDevice	Remote 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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonSRX, and ctre::phoenix::motorcontrol::can::WPI_TalonSRX.

◆ ConfigSelectedFeedbackSensor() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigSelectedFeedbackSensor	(	RemoteFeedbackDevice	feedbackDevice,
		int	pidIdx = 0,
		int	timeoutMs = 0 )

virtual

Select the remote feedback device for the motor controller.

Most CTRE CAN motor controllers will support remote sensors over CAN.

Parameters

feedbackDevice	Remote 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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonSRX, and ctre::phoenix::motorcontrol::can::WPI_TalonSRX.

◆ ConfigSupplyCurrentLimit()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigSupplyCurrentLimit	(	const SupplyCurrentLimitConfiguration &	currLimitConfigs,
		int	timeoutMs = 50 )

virtual

Configures the supply-side current limit.

Parameters

currLimitCfg	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.

Implements ctre::phoenix::motorcontrol::IMotorControllerEnhanced.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonSRX.

◆ ConfigurePID()

ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigurePID	(	const BaseTalonPIDSetConfiguration &	pid,
		int	pidIdx,
		int	timeoutMs,
		bool	enableOptimizations )

protected

◆ ConfigVelocityMeasurementPeriod() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigVelocityMeasurementPeriod	(	ctre::phoenix::sensors::SensorVelocityMeasPeriod	period,
		int	timeoutMs = 0 )

virtual

Configures the period of each velocity sample.

Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

See also: #SensorVelocityMeasPeriod

Parameters

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigVelocityMeasurementPeriod() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigVelocityMeasurementPeriod	(	VelocityMeasPeriod	period,
		int	timeoutMs = 0 )

virtual

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigVelocityMeasurementWindow()

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs = 0 )

virtual

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetOutputCurrent()

virtual double ctre::phoenix::motorcontrol::can::BaseTalon::GetOutputCurrent ( )

virtual

Gets the output current of the motor controller.

In the case of TalonSRX class, this routine returns supply current for legacy reasons. In order to get the "true" output current, call GetStatorCurrent().

[[deprecated("Use GetStatorCurrent/GetSupplyCurrent instead.")]]

Returns: The output current (in amps).

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetPIDConfigs()

void ctre::phoenix::motorcontrol::can::BaseTalon::GetPIDConfigs	(	BaseTalonPIDSetConfiguration &	pid,
		int	pidIdx = 0,
		int	timeoutMs = 50 )

protected

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.

◆ GetStatorCurrent()

double ctre::phoenix::motorcontrol::can::BaseTalon::GetStatorCurrent ( )

Gets the stator/output current of the motor controller.

Returns: The stator/output current (in amps).

◆ GetStatusFramePeriod() [1/2]

virtual int ctre::phoenix::motorcontrol::can::BaseTalon::GetStatusFramePeriod	(	StatusFrame	frame,
		int	timeoutMs = 0 )

virtual

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
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: Period of the given status frame.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetStatusFramePeriod() [2/2]

virtual int ctre::phoenix::motorcontrol::can::BaseTalon::GetStatusFramePeriod	(	StatusFrameEnhanced	frame,
		int	timeoutMs = 0 )

virtual

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
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: Period of the given status frame.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetSupplyCurrent()

double ctre::phoenix::motorcontrol::can::BaseTalon::GetSupplyCurrent ( )

Gets the supply/input current of the motor controller.

Returns: The supply/input current (in amps).

◆ GetTalonSRXSensorCollection()

ctre::phoenix::motorcontrol::SensorCollection & ctre::phoenix::motorcontrol::can::BaseTalon::GetTalonSRXSensorCollection ( )

inlineprotected

◆ GetTalonSRXSimCollection()

ctre::phoenix::motorcontrol::TalonSRXSimCollection & ctre::phoenix::motorcontrol::can::BaseTalon::GetTalonSRXSimCollection ( )

inlineprotected

◆ IsFwdLimitSwitchClosed()

int ctre::phoenix::motorcontrol::can::BaseTalon::IsFwdLimitSwitchClosed ( )

Is forward limit switch closed.

Returns: '1' iff forward limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

◆ IsRevLimitSwitchClosed()

int ctre::phoenix::motorcontrol::can::BaseTalon::IsRevLimitSwitchClosed ( )

Is reverse limit switch closed.

Returns: '1' iff reverse limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

◆ operator=()

BaseTalon & ctre::phoenix::motorcontrol::can::BaseTalon::operator= ( BaseTalon const & )

delete

◆ SetStatusFramePeriod() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::SetStatusFramePeriod	(	StatusFrame	frame,
		uint8_t	periodMs,
		int	timeoutMs = 0 )

virtual

Sets the period of the given status frame.

User ensure CAN Bus utilization is not high.

This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use HasResetOccurred() to determine if the status frame needs to be reconfigured.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ SetStatusFramePeriod() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::SetStatusFramePeriod	(	StatusFrameEnhanced	frame,
		uint8_t	periodMs,
		int	timeoutMs = 0 )

virtual

Sets the period of the given status frame.

User ensure CAN Bus utilization is not high.

This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use HasResetOccurred() to determine if the status frame needs to be reconfigured.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

The documentation for this class was generated from the following file:

ctre/phoenix/motorcontrol/can/BaseTalon.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BaseTalon() [1/3]

◆ ~BaseTalon()

◆ BaseTalon() [2/3]

◆ BaseTalon() [3/3]

Member Function Documentation

◆ BaseTalonConfigAllSettings()

◆ BaseTalonGetAllConfigs()

◆ ConfigForwardLimitSwitchSource() [1/2]

◆ ConfigForwardLimitSwitchSource() [2/2]

◆ ConfigReverseLimitSwitchSource() [1/2]

◆ ConfigReverseLimitSwitchSource() [2/2]

◆ ConfigSelectedFeedbackSensor() [1/2]

◆ ConfigSelectedFeedbackSensor() [2/2]

◆ ConfigSupplyCurrentLimit()

◆ ConfigurePID()

◆ ConfigVelocityMeasurementPeriod() [1/2]

◆ ConfigVelocityMeasurementPeriod() [2/2]

◆ ConfigVelocityMeasurementWindow()

◆ GetOutputCurrent()

◆ GetPIDConfigs()

◆ GetStatorCurrent()

◆ GetStatusFramePeriod() [1/2]

◆ GetStatusFramePeriod() [2/2]

◆ GetSupplyCurrent()

◆ GetTalonSRXSensorCollection()

◆ GetTalonSRXSimCollection()

◆ IsFwdLimitSwitchClosed()

◆ IsRevLimitSwitchClosed()

◆ operator=()

◆ SetStatusFramePeriod() [1/2]

◆ SetStatusFramePeriod() [2/2]