Package com.ctre.phoenixpro.configs

Class FeedbackConfigs

java.lang.Object
com.ctre.phoenixpro.configs.FeedbackConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable
@Deprecated(forRemoval=true)
public class FeedbackConfigs
extends Object
implements ParentConfiguration
Deprecated, for removal: This API element is subject to removal in a future version.
Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    int FeedbackRemoteSensorID
    Deprecated, for removal: This API element is subject to removal in a future version.
    Device ID of which remote device to use.
    double FeedbackRotorOffset
    Deprecated, for removal: This API element is subject to removal in a future version.
    This offset is applied to the absolute integrated rotor sensor.
    FeedbackSensorSourceValue FeedbackSensorSource
    Deprecated, for removal: This API element is subject to removal in a future version.
    Choose what sensor source is reported via API and used by closed-loop and limit features.
    double RotorToSensorRatio
    Deprecated, for removal: This API element is subject to removal in a future version.
    Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source.
    double SensorToMechanismRatio
    Deprecated, for removal: This API element is subject to removal in a future version.
    This is the ratio of sensor rotations to the mechanism's output.

  • Constructor Summary

    Constructors 
    Constructor Description
    FeedbackConfigs()
    Deprecated, for removal: This API element is subject to removal in a future version.
     

  • Method Summary

    Modifier and Type Method Description
    StatusCode deserialize​(String string)
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String serialize()
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String toString()
    Deprecated, for removal: This API element is subject to removal in a future version.
     

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • FeedbackRotorOffset

      public double FeedbackRotorOffset
      Deprecated, for removal: This API element is subject to removal in a future version.
      This offset is applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.
      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations

    • SensorToMechanismRatio

      public double SensorToMechanismRatio
      Deprecated, for removal: This API element is subject to removal in a future version.
      This is the ratio of sensor rotations to the mechanism's output. This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1. Note if this is set to zero, device will reset back to one.
      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar

    • RotorToSensorRatio

      public double RotorToSensorRatio
      Deprecated, for removal: This API element is subject to removal in a future version.
      Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the remote sensor and the motor rotor. Note if this is set to zero, device will reset back to one.
      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar

    • FeedbackSensorSource

      public FeedbackSensorSourceValue FeedbackSensorSource
      Deprecated, for removal: This API element is subject to removal in a future version.
      Choose what sensor source is reported via API and used by closed-loop and limit features. The default is RotorSensor, which uses the internal rotor sensor in the Talon FX. Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon FX will update its position and velocity whenever CANcoder publishes its information on CAN bus. Choose FusedCANcoder and Talon FX will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (note this requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

      Note: When the Talon Source is changed to FusedCANcoder, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the CANcoder's Position signal.

    • FeedbackRemoteSensorID

      public int FeedbackRemoteSensorID
      Deprecated, for removal: This API element is subject to removal in a future version.
      Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.
      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:

  • Constructor Details

  • Method Details