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

#include <ctre/phoenix6/TalonFX.hpp>

Inheritance diagram for ctre::phoenix6::hardware::TalonFX:

Public Member Functions
	TalonFX (int deviceId, std::string canbus="")
	Constructs a new Talon FX motor controller object. More...

	~TalonFX ()

void	Set (double speed) override
	Common interface for setting the speed of a motor controller. More...

void	SetVoltage (units::volt_t volts) override
	Common interface for seting the direct voltage output of a motor controller. More...

double	Get () const override
	Common interface for getting the current set speed of a motor controller. More...

void	Disable () override
	Common interface for disabling a motor controller. More...

void	StopMotor () override
	Common interface to stop motor movement until Set is called again. More...

void	SetInverted (bool isInverted) override
	Common interface for inverting direction of a motor controller. More...

bool	GetInverted () const override
	Common interface for returning the inversion state of a motor controller. More...

std::string	GetDescription () const override

void	InitSendable (wpi::SendableBuilder &builder) override

Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreTalonFX
	CoreTalonFX (int deviceId, std::string canbus="")
	Constructs a new Talon FX motor controller object. More...

	CoreTalonFX (CoreTalonFX const &)=delete

CoreTalonFX &	operator= (CoreTalonFX const &)=delete

bool	HasResetOccurred ()

std::function< bool()>	GetResetOccurredChecker () const

configs::TalonFXConfigurator &	GetConfigurator ()
	Gets the configurator for this TalonFX. More...

configs::TalonFXConfigurator const &	GetConfigurator () const
	Gets the configurator for this TalonFX. More...

sim::TalonFXSimState &	GetSimState ()
	Get the simulation state for this device. More...

StatusSignal< int > &	GetVersionMajor ()
	App Major Version number. More...

StatusSignal< int > &	GetVersionMinor ()
	App Minor Version number. More...

StatusSignal< int > &	GetVersionBugfix ()
	App Bugfix Version number. More...

StatusSignal< int > &	GetVersionBuild ()
	App Build Version number. More...

StatusSignal< int > &	GetVersion ()
	Full Version. More...

StatusSignal< int > &	GetFaultField ()
	Integer representing all faults. More...

StatusSignal< int > &	GetStickyFaultField ()
	Integer representing all sticky faults. More...

StatusSignal< units::voltage::volt_t > &	GetMotorVoltage ()
	The applied (output) motor voltage. More...

StatusSignal< signals::ForwardLimitValue > &	GetForwardLimit ()
	Forward Limit Pin. More...

StatusSignal< signals::ReverseLimitValue > &	GetReverseLimit ()
	Reverse Limit Pin. More...

StatusSignal< signals::AppliedRotorPolarityValue > &	GetAppliedRotorPolarity ()
	The applied rotor polarity. More...

StatusSignal< units::dimensionless::scalar_t > &	GetDutyCycle ()
	The applied motor duty cycle. More...

StatusSignal< units::current::ampere_t > &	GetTorqueCurrent ()
	Current corresponding to the torque output by the motor. More...

StatusSignal< units::current::ampere_t > &	GetStatorCurrent ()
	Current corresponding to the stator windings. More...

StatusSignal< units::current::ampere_t > &	GetSupplyCurrent ()
	Measured supply side current. More...

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage ()
	Measured supply voltage to the TalonFX. More...

StatusSignal< units::temperature::celsius_t > &	GetDeviceTemp ()
	Temperature of device. More...

StatusSignal< units::temperature::celsius_t > &	GetProcessorTemp ()
	Temperature of the processor. More...

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetRotorVelocity ()
	Velocity of the motor rotor. More...

StatusSignal< units::angle::turn_t > &	GetRotorPosition ()
	Position of the motor rotor. More...

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetVelocity ()
	Velocity of the device in mechanism rotations per second. More...

StatusSignal< units::angle::turn_t > &	GetPosition ()
	Position of the device in mechanism rotations. More...

StatusSignal< units::angular_acceleration::turns_per_second_squared_t > &	GetAcceleration ()
	Acceleration of the device in mechanism rotations per second². More...

StatusSignal< signals::ControlModeValue > &	GetControlMode ()
	The active control mode of the motor controller. More...

StatusSignal< signals::MotionMagicIsRunningValue > &	GetMotionMagicIsRunning ()
	Check if Motion Magic® is running. More...

StatusSignal< signals::DeviceEnableValue > &	GetDeviceEnable ()
	Indicates if device is actuator enabled. More...

StatusSignal< int > &	GetClosedLoopSlot ()
	Closed loop slot in use. More...

StatusSignal< signals::DifferentialControlModeValue > &	GetDifferentialControlMode ()
	The active control mode of the differential controller. More...

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetDifferentialAverageVelocity ()
	Average component of the differential velocity of device. More...

StatusSignal< units::angle::turn_t > &	GetDifferentialAveragePosition ()
	Average component of the differential position of device. More...

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetDifferentialDifferenceVelocity ()
	Difference component of the differential velocity of device. More...

StatusSignal< units::angle::turn_t > &	GetDifferentialDifferencePosition ()
	Difference component of the differential position of device. More...

StatusSignal< int > &	GetDifferentialClosedLoopSlot ()
	Differential Closed loop slot in use. More...

StatusSignal< signals::BridgeOutputValue > &	GetBridgeOutput ()
	The applied output of the bridge. More...

StatusSignal< bool > &	GetIsProLicensed ()
	Whether the device is Phoenix Pro licensed. More...

StatusSignal< bool > &	GetFault_Hardware ()
	Hardware fault occurred. More...

StatusSignal< bool > &	GetStickyFault_Hardware ()
	Hardware fault occurred. More...

StatusSignal< bool > &	GetFault_ProcTemp ()
	Processor temperature exceeded limit. More...

StatusSignal< bool > &	GetStickyFault_ProcTemp ()
	Processor temperature exceeded limit. More...

StatusSignal< bool > &	GetFault_DeviceTemp ()
	Device temperature exceeded limit. More...

StatusSignal< bool > &	GetStickyFault_DeviceTemp ()
	Device temperature exceeded limit. More...

StatusSignal< bool > &	GetFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...

StatusSignal< bool > &	GetStickyFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...

StatusSignal< bool > &	GetFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...

StatusSignal< bool > &	GetStickyFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse ()
	An unlicensed feature is in use, device may not behave as expected. More...

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse ()
	An unlicensed feature is in use, device may not behave as expected. More...

StatusSignal< bool > &	GetFault_BridgeBrownout ()
	Bridge was disabled most likely due to supply voltage dropping too low. More...

StatusSignal< bool > &	GetStickyFault_BridgeBrownout ()
	Bridge was disabled most likely due to supply voltage dropping too low. More...

StatusSignal< bool > &	GetFault_RemoteSensorReset ()
	The remote sensor has reset. More...

StatusSignal< bool > &	GetStickyFault_RemoteSensorReset ()
	The remote sensor has reset. More...

StatusSignal< bool > &	GetFault_MissingDifferentialFX ()
	The remote Talon FX used for differential control is not present on CAN Bus. More...

StatusSignal< bool > &	GetStickyFault_MissingDifferentialFX ()
	The remote Talon FX used for differential control is not present on CAN Bus. More...

StatusSignal< bool > &	GetFault_RemoteSensorPosOverflow ()
	The remote sensor position has overflowed. More...

StatusSignal< bool > &	GetStickyFault_RemoteSensorPosOverflow ()
	The remote sensor position has overflowed. More...

StatusSignal< bool > &	GetFault_OverSupplyV ()
	Supply Voltage has exceeded the maximum voltage rating of device. More...

StatusSignal< bool > &	GetStickyFault_OverSupplyV ()
	Supply Voltage has exceeded the maximum voltage rating of device. More...

StatusSignal< bool > &	GetFault_UnstableSupplyV ()
	Supply Voltage is unstable. More...

StatusSignal< bool > &	GetStickyFault_UnstableSupplyV ()
	Supply Voltage is unstable. More...

StatusSignal< bool > &	GetFault_ReverseHardLimit ()
	Reverse limit switch has been asserted. More...

StatusSignal< bool > &	GetStickyFault_ReverseHardLimit ()
	Reverse limit switch has been asserted. More...

StatusSignal< bool > &	GetFault_ForwardHardLimit ()
	Forward limit switch has been asserted. More...

StatusSignal< bool > &	GetStickyFault_ForwardHardLimit ()
	Forward limit switch has been asserted. More...

StatusSignal< bool > &	GetFault_ReverseSoftLimit ()
	Reverse soft limit has been asserted. More...

StatusSignal< bool > &	GetStickyFault_ReverseSoftLimit ()
	Reverse soft limit has been asserted. More...

StatusSignal< bool > &	GetFault_ForwardSoftLimit ()
	Forward soft limit has been asserted. More...

StatusSignal< bool > &	GetStickyFault_ForwardSoftLimit ()
	Forward soft limit has been asserted. More...

StatusSignal< bool > &	GetFault_RemoteSensorDataInvalid ()
	The remote sensor's data is no longer trusted. More...

StatusSignal< bool > &	GetStickyFault_RemoteSensorDataInvalid ()
	The remote sensor's data is no longer trusted. More...

StatusSignal< bool > &	GetFault_FusedSensorOutOfSync ()
	The remote sensor used for fusion has fallen out of sync to the local sensor. More...

StatusSignal< bool > &	GetStickyFault_FusedSensorOutOfSync ()
	The remote sensor used for fusion has fallen out of sync to the local sensor. More...

StatusSignal< bool > &	GetFault_StatorCurrLimit ()
	Stator current limit occured. More...

StatusSignal< bool > &	GetStickyFault_StatorCurrLimit ()
	Stator current limit occured. More...

StatusSignal< bool > &	GetFault_SupplyCurrLimit ()
	Supply current limit occured. More...

StatusSignal< bool > &	GetStickyFault_SupplyCurrLimit ()
	Supply current limit occured. More...

StatusSignal< bool > &	GetFault_UsingFusedCANcoderWhileUnlicensed ()
	Using Fused CANcoder feature while unlicensed. More...

StatusSignal< bool > &	GetStickyFault_UsingFusedCANcoderWhileUnlicensed ()
	Using Fused CANcoder feature while unlicensed. More...

StatusSignal< double > &	GetClosedLoopProportionalOutput ()
	Closed loop proportional component. More...

StatusSignal< double > &	GetClosedLoopIntegratedOutput ()
	Closed loop integrated component. More...

StatusSignal< double > &	GetClosedLoopFeedForward ()
	Feedforward passed by the user. More...

StatusSignal< double > &	GetClosedLoopDerivativeOutput ()
	Closed loop derivative component. More...

StatusSignal< double > &	GetClosedLoopOutput ()
	Closed loop total output. More...

StatusSignal< double > &	GetClosedLoopReference ()
	Value that the closed loop is targeting. More...

StatusSignal< double > &	GetClosedLoopReferenceSlope ()
	Derivative of the target that the closed loop is targeting. More...

StatusSignal< double > &	GetClosedLoopError ()
	The difference between target reference and current measurement. More...

StatusSignal< double > &	GetDifferentialOutput ()
	The calculated motor output for differential followers. More...

StatusSignal< double > &	GetDifferentialClosedLoopProportionalOutput ()
	Differential closed loop proportional component. More...

StatusSignal< double > &	GetDifferentialClosedLoopIntegratedOutput ()
	Differential closed loop integrated component. More...

StatusSignal< double > &	GetDifferentialClosedLoopFeedForward ()
	Differential Feedforward passed by the user. More...

StatusSignal< double > &	GetDifferentialClosedLoopDerivativeOutput ()
	Differential closed loop derivative component. More...

StatusSignal< double > &	GetDifferentialClosedLoopOutput ()
	Differential closed loop total output. More...

StatusSignal< double > &	GetDifferentialClosedLoopReference ()
	Value that the differential closed loop is targeting. More...

StatusSignal< double > &	GetDifferentialClosedLoopReferenceSlope ()
	Derivative of the target that the differential closed loop is targeting. More...

StatusSignal< double > &	GetDifferentialClosedLoopError ()
	The difference between target differential reference and current measurement. More...

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut &request)
	Request a specified motor duty cycle. More...

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut &&request)
	Request a specified motor duty cycle. More...

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC &request)
	Request a specified motor current (field oriented control). More...

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC &&request)
	Request a specified motor current (field oriented control). More...

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut &request)
	Request a specified voltage. More...

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut &&request)
	Request a specified voltage. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle &request)
	Request PID to target position with duty cycle feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle &&request)
	Request PID to target position with duty cycle feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage &request)
	Request PID to target position with voltage feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage &&request)
	Request PID to target position with voltage feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC &request)
	Request PID to target position with torque current feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC &&request)
	Request PID to target position with torque current feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle &request)
	Request PID to target velocity with duty cycle feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle &&request)
	Request PID to target velocity with duty cycle feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage &request)
	Request PID to target velocity with voltage feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage &&request)
	Request PID to target velocity with voltage feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC &request)
	Request PID to target velocity with torque current feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC &&request)
	Request PID to target velocity with torque current feedforward. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle &request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle &&request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage &request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage &&request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC &request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC &&request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialDutyCycle &request)
	Request a specified motor duty cycle with a differential position closed-loop. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialDutyCycle &&request)
	Request a specified motor duty cycle with a differential position closed-loop. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVoltage &request)
	Request a specified voltage with a differential position closed-loop. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVoltage &&request)
	Request a specified voltage with a differential position closed-loop. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionDutyCycle &request)
	Request PID to target position with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionDutyCycle &&request)
	Request PID to target position with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionVoltage &request)
	Request PID to target position with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionVoltage &&request)
	Request PID to target position with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityDutyCycle &request)
	Request PID to target velocity with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityDutyCycle &&request)
	Request PID to target velocity with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityVoltage &request)
	Request PID to target velocity with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityVoltage &&request)
	Request PID to target velocity with a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicDutyCycle &request)
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicDutyCycle &&request)
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVoltage &request)
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVoltage &&request)
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...

ctre::phoenix::StatusCode	SetControl (controls::Follower &request)
	Follow the motor output of another Talon. More...

ctre::phoenix::StatusCode	SetControl (controls::Follower &&request)
	Follow the motor output of another Talon. More...

ctre::phoenix::StatusCode	SetControl (controls::StrictFollower &request)
	Follow the motor output of another Talon while ignoring the master's invert setting. More...

ctre::phoenix::StatusCode	SetControl (controls::StrictFollower &&request)
	Follow the motor output of another Talon while ignoring the master's invert setting. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialFollower &request)
	Follow the differential motor output of another Talon. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialFollower &&request)
	Follow the differential motor output of another Talon. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialStrictFollower &request)
	Follow the differential motor output of another Talon while ignoring the master's invert setting. More...

ctre::phoenix::StatusCode	SetControl (controls::DifferentialStrictFollower &&request)
	Follow the differential motor output of another Talon while ignoring the master's invert setting. More...

ctre::phoenix::StatusCode	SetControl (controls::NeutralOut &request)
	Request neutral output of actuator. More...

ctre::phoenix::StatusCode	SetControl (controls::NeutralOut &&request)
	Request neutral output of actuator. More...

ctre::phoenix::StatusCode	SetControl (controls::CoastOut &request)
	Request coast neutral output of actuator. More...

ctre::phoenix::StatusCode	SetControl (controls::CoastOut &&request)
	Request coast neutral output of actuator. More...

ctre::phoenix::StatusCode	SetControl (controls::StaticBrake &request)
	Applies full neutral-brake by shorting motor leads together. More...

ctre::phoenix::StatusCode	SetControl (controls::StaticBrake &&request)
	Applies full neutral-brake by shorting motor leads together. More...

ctre::phoenix::StatusCode	SetControl (controls::MusicTone &request)
	Plays a single tone at the user specified frequency. More...

ctre::phoenix::StatusCode	SetControl (controls::MusicTone &&request)
	Plays a single tone at the user specified frequency. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle &request)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle &&request)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityTorqueCurrentFOC &request)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityTorqueCurrentFOC &&request)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage &request)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage &&request)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicDutyCycle &request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicDutyCycle &&request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicVoltage &request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicVoltage &&request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicTorqueCurrentFOC &request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicTorqueCurrentFOC &&request)
	Requests Motion Magic® to target a final position using a motion profile. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_PositionDutyCycle &request)
	Differential control with duty cycle average target and position difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_PositionDutyCycle &&request)
	Differential control with duty cycle average target and position difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_PositionDutyCycle &request)
	Differential control with position average target and position difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_PositionDutyCycle &&request)
	Differential control with position average target and position difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_PositionDutyCycle &request)
	Differential control with velocity average target and position difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_PositionDutyCycle &&request)
	Differential control with velocity average target and position difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_PositionDutyCycle &request)
	Differential control with Motion Magic® average target and position difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_PositionDutyCycle &&request)
	Differential control with Motion Magic® average target and position difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_VelocityDutyCycle &request)
	Differential control with duty cycle average target and velocity difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_VelocityDutyCycle &&request)
	Differential control with duty cycle average target and velocity difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_VelocityDutyCycle &request)
	Differential control with position average target and velocity difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_VelocityDutyCycle &&request)
	Differential control with position average target and velocity difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_VelocityDutyCycle &request)
	Differential control with velocity average target and velocity difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_VelocityDutyCycle &&request)
	Differential control with velocity average target and velocity difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_VelocityDutyCycle &request)
	Differential control with Motion Magic® average target and velocity difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_VelocityDutyCycle &&request)
	Differential control with Motion Magic® average target and velocity difference target using dutycycle control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_PositionVoltage &request)
	Differential control with voltage average target and position difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_PositionVoltage &&request)
	Differential control with voltage average target and position difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_PositionVoltage &request)
	Differential control with position average target and position difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_PositionVoltage &&request)
	Differential control with position average target and position difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_PositionVoltage &request)
	Differential control with velocity average target and position difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_PositionVoltage &&request)
	Differential control with velocity average target and position difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_PositionVoltage &request)
	Differential control with Motion Magic® average target and position difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_PositionVoltage &&request)
	Differential control with Motion Magic® average target and position difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_VelocityVoltage &request)
	Differential control with voltage average target and velocity difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_VelocityVoltage &&request)
	Differential control with voltage average target and velocity difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_VelocityVoltage &request)
	Differential control with position average target and velocity difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_VelocityVoltage &&request)
	Differential control with position average target and velocity difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_VelocityVoltage &request)
	Differential control with velocity average target and velocity difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_VelocityVoltage &&request)
	Differential control with velocity average target and velocity difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_VelocityVoltage &request)
	Differential control with Motion Magic® average target and velocity difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_VelocityVoltage &&request)
	Differential control with Motion Magic® average target and velocity difference target using voltage control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_PositionTorqueCurrentFOC &request)
	Differential control with torque current average target and position difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_PositionTorqueCurrentFOC &&request)
	Differential control with torque current average target and position difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_PositionTorqueCurrentFOC &request)
	Differential control with position average target and position difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_PositionTorqueCurrentFOC &&request)
	Differential control with position average target and position difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_PositionTorqueCurrentFOC &request)
	Differential control with velocity average target and position difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_PositionTorqueCurrentFOC &&request)
	Differential control with velocity average target and position difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC &request)
	Differential control with Motion Magic® average target and position difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC &&request)
	Differential control with Motion Magic® average target and position difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_VelocityTorqueCurrentFOC &request)
	Differential control with torque current average target and velocity difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_VelocityTorqueCurrentFOC &&request)
	Differential control with torque current average target and velocity difference target. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_VelocityTorqueCurrentFOC &request)
	Differential control with position average target and velocity difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_VelocityTorqueCurrentFOC &&request)
	Differential control with position average target and velocity difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_VelocityTorqueCurrentFOC &request)
	Differential control with velocity average target and velocity difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_VelocityTorqueCurrentFOC &&request)
	Differential control with velocity average target and velocity difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC &request)
	Differential control with Motion Magic® average target and velocity difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC &&request)
	Differential control with Motion Magic® average target and velocity difference target using torque current control. More...

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &request)
	Control motor with generic control request object. More...

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &&request)
	Control motor with generic control request object. More...

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
	Sets the mechanism position of the device in mechanism rotations. More...

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue)
	Sets the mechanism position of the device in mechanism rotations. More...

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device. More...

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device. More...

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred. More...

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred. More...

ctre::phoenix::StatusCode	ClearStickyFault_ProcTemp (units::time::second_t timeoutSeconds)
	Clear sticky fault: Processor temperature exceeded limit. More...

ctre::phoenix::StatusCode	ClearStickyFault_ProcTemp ()
	Clear sticky fault: Processor temperature exceeded limit. More...

ctre::phoenix::StatusCode	ClearStickyFault_DeviceTemp (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device temperature exceeded limit. More...

ctre::phoenix::StatusCode	ClearStickyFault_DeviceTemp ()
	Clear sticky fault: Device temperature exceeded limit. More...

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels. More...

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal. More...

ctre::phoenix::StatusCode	ClearStickyFault_BridgeBrownout (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. More...

ctre::phoenix::StatusCode	ClearStickyFault_BridgeBrownout ()
	Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. More...

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorReset (units::time::second_t timeoutSeconds)
	Clear sticky fault: The remote sensor has reset. More...

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorReset ()
	Clear sticky fault: The remote sensor has reset. More...

ctre::phoenix::StatusCode	ClearStickyFault_MissingDifferentialFX (units::time::second_t timeoutSeconds)
	Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus. More...

ctre::phoenix::StatusCode	ClearStickyFault_MissingDifferentialFX ()
	Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus. More...

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorPosOverflow (units::time::second_t timeoutSeconds)
	Clear sticky fault: The remote sensor position has overflowed. More...

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorPosOverflow ()
	Clear sticky fault: The remote sensor position has overflowed. More...

ctre::phoenix::StatusCode	ClearStickyFault_OverSupplyV (units::time::second_t timeoutSeconds)
	Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. More...

ctre::phoenix::StatusCode	ClearStickyFault_OverSupplyV ()
	Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. More...

ctre::phoenix::StatusCode	ClearStickyFault_UnstableSupplyV (units::time::second_t timeoutSeconds)
	Clear sticky fault: Supply Voltage is unstable. More...

ctre::phoenix::StatusCode	ClearStickyFault_UnstableSupplyV ()
	Clear sticky fault: Supply Voltage is unstable. More...

ctre::phoenix::StatusCode	ClearStickyFault_ReverseHardLimit (units::time::second_t timeoutSeconds)
	Clear sticky fault: Reverse limit switch has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ReverseHardLimit ()
	Clear sticky fault: Reverse limit switch has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ForwardHardLimit (units::time::second_t timeoutSeconds)
	Clear sticky fault: Forward limit switch has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ForwardHardLimit ()
	Clear sticky fault: Forward limit switch has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ReverseSoftLimit (units::time::second_t timeoutSeconds)
	Clear sticky fault: Reverse soft limit has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ReverseSoftLimit ()
	Clear sticky fault: Reverse soft limit has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ForwardSoftLimit (units::time::second_t timeoutSeconds)
	Clear sticky fault: Forward soft limit has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_ForwardSoftLimit ()
	Clear sticky fault: Forward soft limit has been asserted. More...

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorDataInvalid (units::time::second_t timeoutSeconds)
	Clear sticky fault: The remote sensor's data is no longer trusted. More...

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorDataInvalid ()
	Clear sticky fault: The remote sensor's data is no longer trusted. More...

ctre::phoenix::StatusCode	ClearStickyFault_FusedSensorOutOfSync (units::time::second_t timeoutSeconds)
	Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. More...

ctre::phoenix::StatusCode	ClearStickyFault_FusedSensorOutOfSync ()
	Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. More...

ctre::phoenix::StatusCode	ClearStickyFault_StatorCurrLimit (units::time::second_t timeoutSeconds)
	Clear sticky fault: Stator current limit occured. More...

ctre::phoenix::StatusCode	ClearStickyFault_StatorCurrLimit ()
	Clear sticky fault: Stator current limit occured. More...

ctre::phoenix::StatusCode	ClearStickyFault_SupplyCurrLimit (units::time::second_t timeoutSeconds)
	Clear sticky fault: Supply current limit occured. More...

ctre::phoenix::StatusCode	ClearStickyFault_SupplyCurrLimit ()
	Clear sticky fault: Supply current limit occured. More...

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)

int	GetDeviceID () const

const std::string &	GetNetwork () const

uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID. More...

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control. More...

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control. More...

StatusSignal< double > &	GetGenericSignal (uint32_t signal)
	This is a reserved routine for internal testing. More...

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::time::second_t timeoutSeconds=50_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals. More...

Protected Member Functions
ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest &request) override

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual void	ReportIfTooOld ()=0

virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignal< T > >()> map_filler, std::string signalName, bool reportOnConstruction)

template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName)
	Returns a unitless version of the StatusSignal by value. More...

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...

Static Public Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr double	kDefaultControlRatePeriodsSec = 0.010

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are convertible to ParentDevice references. More...

Detailed Description

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

This must be constructed after main executes. We recommend constructing inside the robot class or your subsystem classes. Otherwise WPILib motor safety may produce erroneous behavior.

Constructor & Destructor Documentation

◆ TalonFX()

ctre::phoenix6::hardware::TalonFX::TalonFX	(	int	deviceId,
		std::string	canbus = `""`
	)

Constructs a new Talon FX motor controller object.

This must be constructed after main executes. We recommend constructing inside the robot class or your subsystem classes. Otherwise WPILib motor safety may produce erroneous behavior.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	Name of the CAN bus this device is on. Possible CAN bus strings are: "rio" for the native roboRIO CAN bus CANivore name or serial number SocketCAN interface (non-FRC Linux only) "" for any CANivore seen by the program empty string (default) to select the default for the system: "rio" on roboRIO "can0" on Linux "" on Windows

◆ ~TalonFX()

ctre::phoenix6::hardware::TalonFX::~TalonFX ( )

Member Function Documentation

◆ Disable()

void ctre::phoenix6::hardware::TalonFX::Disable ( )

override

Common interface for disabling a motor controller.

◆ Get()

double ctre::phoenix6::hardware::TalonFX::Get ( ) const

override

Common interface for getting the current set speed of a motor controller.

Returns: The current set speed. Value is between -1.0 and 1.0.

◆ GetDescription()

std::string ctre::phoenix6::hardware::TalonFX::GetDescription ( ) const

override

Returns: Description of motor controller

◆ GetInverted()

bool ctre::phoenix6::hardware::TalonFX::GetInverted ( ) const

override

Common interface for returning the inversion state of a motor controller.

Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Returns: The state of the inversion, true is inverted.

◆ InitSendable()

void ctre::phoenix6::hardware::TalonFX::InitSendable ( wpi::SendableBuilder & builder )

override

◆ Set()

void ctre::phoenix6::hardware::TalonFX::Set ( double speed )

override

Common interface for setting the speed of a motor controller.

Parameters

speed The speed to set. Value should be between -1.0 and 1.0.

◆ SetControlPrivate()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::TalonFX::SetControlPrivate ( controls::ControlRequest & request )

overrideprotectedvirtual

Reimplemented from ctre::phoenix6::hardware::ParentDevice.

◆ SetInverted()

void ctre::phoenix6::hardware::TalonFX::SetInverted ( bool isInverted )

override

Common interface for inverting direction of a motor controller.

Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Parameters

isInverted The state of inversion, true is inverted.

◆ SetVoltage()

void ctre::phoenix6::hardware::TalonFX::SetVoltage ( units::volt_t volts )

override

Common interface for seting the direct voltage output of a motor controller.

Parameters

volts The voltage to output.

◆ StopMotor()

void ctre::phoenix6::hardware::TalonFX::StopMotor ( )

override

Common interface to stop motor movement until Set is called again.

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

ctre/phoenix6/TalonFX.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TalonFX()

◆ ~TalonFX()

Member Function Documentation

◆ Disable()

◆ Get()

◆ GetDescription()

◆ GetInverted()

◆ InitSendable()

◆ Set()

◆ SetControlPrivate()

◆ SetInverted()

◆ SetVoltage()

◆ StopMotor()