Configurables available to base motor controllers. More...

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

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

Public Member Functions
	BaseMotorControllerConfiguration ()

std::string	toString ()

std::string	toString (std::string prependString)

Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration
	CustomParamConfiguration ()

std::string	toString ()

std::string	toString (std::string prependString)

Public Attributes
double	openloopRamp
	Seconds to go from 0 to full in open loop.

double	closedloopRamp
	Seconds to go from 0 to full in closed loop.

double	peakOutputForward
	Peak output in forward direction [0,1].

double	peakOutputReverse
	Peak output in reverse direction [-1,0].

double	nominalOutputForward
	Nominal/Minimum output in forward direction [0,1].

double	nominalOutputReverse
	Nominal/Minimum output in reverse direction [-1,0].

double	neutralDeadband
	Neutral deadband [0.001, 0.25].

double	voltageCompSaturation
	This is the max voltage to apply to the hbridge when voltage compensation is enabled.

int	voltageMeasurementFilter
	Number of samples in rolling average for voltage.

ctre::phoenix::sensors::SensorVelocityMeasPeriod	velocityMeasurementPeriod
	Desired period for velocity measurement.

int	velocityMeasurementWindow
	Desired window for velocity measurement.

double	forwardSoftLimitThreshold
	Threshold for soft limits in forward direction (in raw sensor units)

double	reverseSoftLimitThreshold
	Threshold for soft limits in reverse direction (in raw sensor units)

bool	forwardSoftLimitEnable
	Enable forward soft limit.

bool	reverseSoftLimitEnable
	Enable reverse soft limit.

SlotConfiguration	slot0
	Configuration for slot 0.

SlotConfiguration	slot1
	Configuration for slot 1.

SlotConfiguration	slot2
	Configuration for slot 2.

SlotConfiguration	slot3
	Configuration for slot 3.

bool	auxPIDPolarity
	PID polarity inversion.

FilterConfiguration	remoteFilter0
	Configuration for RemoteFilter 0.

FilterConfiguration	remoteFilter1
	Configuration for RemoteFilter 1.

double	motionCruiseVelocity
	Motion Magic cruise velocity in raw sensor units per 100 ms.

double	motionAcceleration
	Motion Magic acceleration in (raw sensor units per 100 ms) per second.

int	motionCurveStrength
	Zero to use trapezoidal motion during motion magic.

int	motionProfileTrajectoryPeriod
	Motion profile base trajectory period in milliseconds.

bool	feedbackNotContinuous
	Determine whether feedback sensor is continuous or not.

bool	remoteSensorClosedLoopDisableNeutralOnLOS
	Disable neutral'ing the motor when remote sensor is lost on CAN bus.

bool	clearPositionOnLimitF
	Clear the position on forward limit.

bool	clearPositionOnLimitR
	Clear the position on reverse limit.

bool	clearPositionOnQuadIdx
	Clear the position on index.

bool	limitSwitchDisableNeutralOnLOS
	Disable neutral'ing the motor when remote limit switch is lost on CAN bus.

bool	softLimitDisableNeutralOnLOS
	Disable neutral'ing the motor when remote soft limit is lost on CAN bus.

int	pulseWidthPeriod_EdgesPerRot
	Number of edges per rotation for a tachometer sensor.

int	pulseWidthPeriod_FilterWindowSz
	Desired window size for a tachometer sensor.

bool	trajectoryInterpolationEnable
	Enable motion profile trajectory point interpolation (defaults to true).

Public Attributes inherited from ctre::phoenix::CustomParamConfiguration
int	customParam0
	Custom Param 0.

int	customParam1
	Custom Param 1.

bool	enableOptimizations
	Enable optimizations for ConfigAll (defaults true)

Detailed Description

Configurables available to base motor controllers.

Constructor & Destructor Documentation

◆ BaseMotorControllerConfiguration()

ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::BaseMotorControllerConfiguration ( )

inline

Member Function Documentation

◆ toString() [1/2]

std::string ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::toString ( )

inline

Returns: String representation of configs

◆ toString() [2/2]

std::string ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::toString ( std::string prependString )

inline

Parameters

prependString String to prepend to configs

Returns: String representation of configs

Member Data Documentation

◆ auxPIDPolarity

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::auxPIDPolarity

PID polarity inversion.

Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1,

Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,

◆ clearPositionOnLimitF

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnLimitF

Clear the position on forward limit.

◆ clearPositionOnLimitR

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnLimitR

Clear the position on reverse limit.

◆ clearPositionOnQuadIdx

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnQuadIdx

Clear the position on index.

◆ closedloopRamp

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::closedloopRamp

Seconds to go from 0 to full in closed loop.

◆ feedbackNotContinuous

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::feedbackNotContinuous

Determine whether feedback sensor is continuous or not.

◆ forwardSoftLimitEnable

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::forwardSoftLimitEnable

Enable forward soft limit.

◆ forwardSoftLimitThreshold

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::forwardSoftLimitThreshold

Threshold for soft limits in forward direction (in raw sensor units)

◆ limitSwitchDisableNeutralOnLOS

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::limitSwitchDisableNeutralOnLOS

Disable neutral'ing the motor when remote limit switch is lost on CAN bus.

◆ motionAcceleration

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionAcceleration

Motion Magic acceleration in (raw sensor units per 100 ms) per second.

◆ motionCruiseVelocity

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionCruiseVelocity

Motion Magic cruise velocity in raw sensor units per 100 ms.

◆ motionCurveStrength

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionCurveStrength

Zero to use trapezoidal motion during motion magic.

[1,8] for S-Curve, higher value for greater smoothing.

◆ motionProfileTrajectoryPeriod

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionProfileTrajectoryPeriod

Motion profile base trajectory period in milliseconds.

The period specified in a trajectory point will be added on to this value

◆ neutralDeadband

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::neutralDeadband

Neutral deadband [0.001, 0.25].

◆ nominalOutputForward

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::nominalOutputForward

Nominal/Minimum output in forward direction [0,1].

◆ nominalOutputReverse

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::nominalOutputReverse

Nominal/Minimum output in reverse direction [-1,0].

◆ openloopRamp

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::openloopRamp

Seconds to go from 0 to full in open loop.

◆ peakOutputForward

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::peakOutputForward

Peak output in forward direction [0,1].

◆ peakOutputReverse

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::peakOutputReverse

Peak output in reverse direction [-1,0].

◆ pulseWidthPeriod_EdgesPerRot

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::pulseWidthPeriod_EdgesPerRot

Number of edges per rotation for a tachometer sensor.

◆ pulseWidthPeriod_FilterWindowSz

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::pulseWidthPeriod_FilterWindowSz

Desired window size for a tachometer sensor.

◆ remoteFilter0

FilterConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteFilter0

Configuration for RemoteFilter 0.

◆ remoteFilter1

FilterConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteFilter1

Configuration for RemoteFilter 1.

◆ remoteSensorClosedLoopDisableNeutralOnLOS

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteSensorClosedLoopDisableNeutralOnLOS

Disable neutral'ing the motor when remote sensor is lost on CAN bus.

◆ reverseSoftLimitEnable

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::reverseSoftLimitEnable

Enable reverse soft limit.

◆ reverseSoftLimitThreshold

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::reverseSoftLimitThreshold

Threshold for soft limits in reverse direction (in raw sensor units)

◆ slot0

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot0

Configuration for slot 0.

◆ slot1

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot1

Configuration for slot 1.

◆ slot2

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot2

Configuration for slot 2.

◆ slot3

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot3

Configuration for slot 3.

◆ softLimitDisableNeutralOnLOS

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::softLimitDisableNeutralOnLOS

Disable neutral'ing the motor when remote soft limit is lost on CAN bus.

◆ trajectoryInterpolationEnable

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::trajectoryInterpolationEnable

Enable motion profile trajectory point interpolation (defaults to true).

◆ velocityMeasurementPeriod

ctre::phoenix::sensors::SensorVelocityMeasPeriod ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::velocityMeasurementPeriod

Desired period for velocity measurement.

◆ velocityMeasurementWindow

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::velocityMeasurementWindow

Desired window for velocity measurement.

◆ voltageCompSaturation

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::voltageCompSaturation

This is the max voltage to apply to the hbridge when voltage compensation is enabled.

For example, if 10 (volts) is specified and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc) then the TalonSRX will attempt to apply a duty-cycle to produce 5V.

◆ voltageMeasurementFilter

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::voltageMeasurementFilter

Number of samples in rolling average for voltage.

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

ctre/phoenix/motorcontrol/can/BaseMotorController.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseMotorControllerConfiguration()

Member Function Documentation

◆ toString() [1/2]

◆ toString() [2/2]

Member Data Documentation

◆ auxPIDPolarity

◆ clearPositionOnLimitF

◆ clearPositionOnLimitR

◆ clearPositionOnQuadIdx

◆ closedloopRamp

◆ feedbackNotContinuous

◆ forwardSoftLimitEnable

◆ forwardSoftLimitThreshold

◆ limitSwitchDisableNeutralOnLOS

◆ motionAcceleration

◆ motionCruiseVelocity

◆ motionCurveStrength

◆ motionProfileTrajectoryPeriod

◆ neutralDeadband

◆ nominalOutputForward

◆ nominalOutputReverse

◆ openloopRamp

◆ peakOutputForward

◆ peakOutputReverse

◆ pulseWidthPeriod_EdgesPerRot

◆ pulseWidthPeriod_FilterWindowSz

◆ remoteFilter0

◆ remoteFilter1

◆ remoteSensorClosedLoopDisableNeutralOnLOS

◆ reverseSoftLimitEnable

◆ reverseSoftLimitThreshold

◆ slot0

◆ slot1

◆ slot2

◆ slot3

◆ softLimitDisableNeutralOnLOS

◆ trajectoryInterpolationEnable

◆ velocityMeasurementPeriod

◆ velocityMeasurementWindow

◆ voltageCompSaturation

◆ voltageMeasurementFilter