CTRE Phoenix 6 C++ 23.10.0-alpha-8
|
Class description for the Talon FX integrated motor controller that runs on associated Falcon motors. More...
#include <ctre/phoenix6/core/CoreTalonFX.hpp>
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... | |
Class description for the Talon FX integrated motor controller that runs on associated Falcon motors.
This handles the configurations for the hardware::TalonFX
|
inlinevirtual |
Take a string and deserialize it to this configuration.
Implements ctre::phoenix6::configs::ParentConfiguration.
|
inlinevirtual |
Get the serialized form of this configuration.
Implements ctre::phoenix6::ISerializable.
|
inlinevirtual |
Get the string representation of this configuration.
Implements ctre::phoenix6::configs::ParentConfiguration.
AudioConfigs ctre::phoenix6::configs::TalonFXConfiguration::Audio |
Configs that affect audible components of the device.
Includes configuration for the beep on boot.
ClosedLoopGeneralConfigs ctre::phoenix6::configs::TalonFXConfiguration::ClosedLoopGeneral |
Configs that affect general behavior during closed-looping.
Includes Continuous Wrap features.
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.
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.
CustomParamsConfigs ctre::phoenix6::configs::TalonFXConfiguration::CustomParams |
Custom Params.
Custom paramaters that have no real impact on controller.
DifferentialConstantsConfigs ctre::phoenix6::configs::TalonFXConfiguration::DifferentialConstants |
Configs related to constants used for differential control of a mechanism.
Includes the differential peak outputs.
DifferentialSensorsConfigs ctre::phoenix6::configs::TalonFXConfiguration::DifferentialSensors |
Configs related to sensors used for differential control of a mechanism.
Includes the differential sensor sources and IDs.
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.
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.
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.
MotionMagicConfigs ctre::phoenix6::configs::TalonFXConfiguration::MotionMagic |
Configs for Motion Magic®.
Includes Velocity, Acceleration, and Jerk parameters.
MotorOutputConfigs ctre::phoenix6::configs::TalonFXConfiguration::MotorOutput |
Configs that directly affect motor-output.
Includes Motor Invert and various limit features.
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.
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.
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.
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.
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.
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.
VoltageConfigs ctre::phoenix6::configs::TalonFXConfiguration::Voltage |
Voltage-specific configs.
Voltage-specific configs