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CTRE Phoenix 6 C++ 23.10.0-alpha-8
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ctre::phoenix6::configs::TalonFXConfiguration Class Reference

Class description for the Talon FX integrated motor controller that runs on associated Falcon motors. More...

#include <ctre/phoenix6/core/CoreTalonFX.hpp>

Inheritance diagram for ctre::phoenix6::configs::TalonFXConfiguration:
ctre::phoenix6::configs::ParentConfiguration ctre::phoenix6::ISerializable

Public Member Functions

std::string ToString () const
 Get the string representation of this configuration. More...
 
std::string Serialize () const
 Get the serialized form of this configuration. More...
 
ctre::phoenix::StatusCode Deserialize (const std::string &to_deserialize)
 Take a string and deserialize it to this configuration. More...
 
virtual std::string ToString () const =0
 
virtual ctre::phoenix::StatusCode Deserialize (const std::string &string)=0
 
virtual std::string Serialize () const =0
 

Public Attributes

bool FutureProofConfigs {true}
 True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone. More...
 
MotorOutputConfigs MotorOutput
 Configs that directly affect motor-output. More...
 
CurrentLimitsConfigs CurrentLimits
 Configs that directly affect current limiting features. More...
 
VoltageConfigs Voltage
 Voltage-specific configs. More...
 
TorqueCurrentConfigs TorqueCurrent
 Configs to control the maximum and minimum applied torque when using Torque Current control types. More...
 
FeedbackConfigs Feedback
 Configs that affect the feedback of this motor controller. More...
 
DifferentialSensorsConfigs DifferentialSensors
 Configs related to sensors used for differential control of a mechanism. More...
 
DifferentialConstantsConfigs DifferentialConstants
 Configs related to constants used for differential control of a mechanism. More...
 
OpenLoopRampsConfigs OpenLoopRamps
 Configs that affect the open-loop control of this motor controller. More...
 
ClosedLoopRampsConfigs ClosedLoopRamps
 Configs that affect the closed-loop control of this motor controller. More...
 
HardwareLimitSwitchConfigs HardwareLimitSwitch
 Configs that change how the motor controller behaves under different limit switch statse. More...
 
AudioConfigs Audio
 Configs that affect audible components of the device. More...
 
SoftwareLimitSwitchConfigs SoftwareLimitSwitch
 Configs that affect how software-limit switches behave. More...
 
MotionMagicConfigs MotionMagic
 Configs for Motion Magic®. More...
 
CustomParamsConfigs CustomParams
 Custom Params. More...
 
ClosedLoopGeneralConfigs ClosedLoopGeneral
 Configs that affect general behavior during closed-looping. More...
 
Slot0Configs Slot0
 Gains for the specified slot. More...
 
Slot1Configs Slot1
 Gains for the specified slot. More...
 
Slot2Configs Slot2
 Gains for the specified slot. More...
 

Detailed Description

Class description for the Talon FX integrated motor controller that runs on associated Falcon motors.

This handles the configurations for the hardware::TalonFX

Member Function Documentation

◆ Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::TalonFXConfiguration::Deserialize ( const std::string &  to_deserialize)
inlinevirtual

Take a string and deserialize it to this configuration.

Implements ctre::phoenix6::configs::ParentConfiguration.

◆ Serialize()

std::string ctre::phoenix6::configs::TalonFXConfiguration::Serialize ( ) const
inlinevirtual

Get the serialized form of this configuration.

Implements ctre::phoenix6::ISerializable.

◆ ToString()

std::string ctre::phoenix6::configs::TalonFXConfiguration::ToString ( ) const
inlinevirtual

Get the string representation of this configuration.

Implements ctre::phoenix6::configs::ParentConfiguration.

Member Data Documentation

◆ Audio

AudioConfigs ctre::phoenix6::configs::TalonFXConfiguration::Audio

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

◆ ClosedLoopGeneral

ClosedLoopGeneralConfigs ctre::phoenix6::configs::TalonFXConfiguration::ClosedLoopGeneral

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

◆ ClosedLoopRamps

ClosedLoopRampsConfigs ctre::phoenix6::configs::TalonFXConfiguration::ClosedLoopRamps

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

◆ CurrentLimits

CurrentLimitsConfigs ctre::phoenix6::configs::TalonFXConfiguration::CurrentLimits

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them or not.

◆ CustomParams

CustomParamsConfigs ctre::phoenix6::configs::TalonFXConfiguration::CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

◆ DifferentialConstants

DifferentialConstantsConfigs ctre::phoenix6::configs::TalonFXConfiguration::DifferentialConstants

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

◆ DifferentialSensors

DifferentialSensorsConfigs ctre::phoenix6::configs::TalonFXConfiguration::DifferentialSensors

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

◆ Feedback

FeedbackConfigs ctre::phoenix6::configs::TalonFXConfiguration::Feedback

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

◆ FutureProofConfigs

bool ctre::phoenix6::configs::TalonFXConfiguration::FutureProofConfigs {true}

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

◆ HardwareLimitSwitch

HardwareLimitSwitchConfigs ctre::phoenix6::configs::TalonFXConfiguration::HardwareLimitSwitch

Configs that change how the motor controller behaves under different limit switch statse.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

◆ MotionMagic

MotionMagicConfigs ctre::phoenix6::configs::TalonFXConfiguration::MotionMagic

Configs for Motion Magic®.

Includes Velocity, Acceleration, and Jerk parameters.

◆ MotorOutput

MotorOutputConfigs ctre::phoenix6::configs::TalonFXConfiguration::MotorOutput

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

◆ OpenLoopRamps

OpenLoopRampsConfigs ctre::phoenix6::configs::TalonFXConfiguration::OpenLoopRamps

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

◆ Slot0

Slot0Configs ctre::phoenix6::configs::TalonFXConfiguration::Slot0

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

◆ Slot1

Slot1Configs ctre::phoenix6::configs::TalonFXConfiguration::Slot1

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

◆ Slot2

Slot2Configs ctre::phoenix6::configs::TalonFXConfiguration::Slot2

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

◆ SoftwareLimitSwitch

SoftwareLimitSwitchConfigs ctre::phoenix6::configs::TalonFXConfiguration::SoftwareLimitSwitch

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they're tripped.

◆ TorqueCurrent

TorqueCurrentConfigs ctre::phoenix6::configs::TalonFXConfiguration::TorqueCurrent

Configs to control the maximum and minimum applied torque when using Torque Current control types.

Similar to peak output, but for the TorqueCurrentFOC control type requests.

◆ Voltage

VoltageConfigs ctre::phoenix6::configs::TalonFXConfiguration::Voltage

Voltage-specific configs.

Voltage-specific configs


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