Configs that affect the feedback of this motor controller. More...

#include <ctre/phoenix6/configs/Configs.hpp>

Inheritance diagram for ctre::phoenix6::configs::FeedbackConfigs:

Public Member Functions
constexpr	FeedbackConfigs ()=default

constexpr FeedbackConfigs &	WithFeedbackRotorOffset (units::angle::turn_t newFeedbackRotorOffset)
	Modifies this configuration's FeedbackRotorOffset parameter and returns itself for method-chaining and easier to use config API.

constexpr FeedbackConfigs &	WithSensorToMechanismRatio (units::dimensionless::scalar_t newSensorToMechanismRatio)
	Modifies this configuration's SensorToMechanismRatio parameter and returns itself for method-chaining and easier to use config API.

constexpr FeedbackConfigs &	WithRotorToSensorRatio (units::dimensionless::scalar_t newRotorToSensorRatio)
	Modifies this configuration's RotorToSensorRatio parameter and returns itself for method-chaining and easier to use config API.

constexpr FeedbackConfigs &	WithFeedbackSensorSource (signals::FeedbackSensorSourceValue newFeedbackSensorSource)
	Modifies this configuration's FeedbackSensorSource parameter and returns itself for method-chaining and easier to use config API.

constexpr FeedbackConfigs &	WithFeedbackRemoteSensorID (int newFeedbackRemoteSensorID)
	Modifies this configuration's FeedbackRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

constexpr FeedbackConfigs &	WithVelocityFilterTimeConstant (units::time::second_t newVelocityFilterTimeConstant)
	Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chaining and easier to use config API.

FeedbackConfigs &	WithRemoteCANcoder (const hardware::core::CoreCANcoder &device)
	Helper method to configure this feedback group to use RemoteCANcoder by passing in the CANcoder object.

FeedbackConfigs &	WithFusedCANcoder (const hardware::core::CoreCANcoder &device)
	Helper method to configure this feedback group to use FusedCANcoder by passing in the CANcoder object.

FeedbackConfigs &	WithSyncCANcoder (const hardware::core::CoreCANcoder &device)
	Helper method to configure this feedback group to use SyncCANcoder by passing in the CANcoder object.

std::string	ToString () const override

std::string	Serialize () const override

ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override

Public Attributes
units::angle::turn_t	FeedbackRotorOffset = 0.0_tr
	The offset applied to the absolute integrated rotor sensor.

units::dimensionless::scalar_t	SensorToMechanismRatio = 1.0
	The ratio of sensor rotations to the mechanism's output, where a ratio greater than 1 is a reduction.

units::dimensionless::scalar_t	RotorToSensorRatio = 1.0
	The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

signals::FeedbackSensorSourceValue	FeedbackSensorSource = signals::FeedbackSensorSourceValue::RotorSensor
	Choose what sensor source is reported via API and used by closed-loop and limit features.

int	FeedbackRemoteSensorID = 0
	Device ID of which remote device to use.

units::time::second_t	VelocityFilterTimeConstant = 0_s
	The configurable time constant of the Kalman velocity filter.

Detailed Description

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.

Constructor & Destructor Documentation

◆ FeedbackConfigs()

constexpr ctre::phoenix6::configs::FeedbackConfigs::FeedbackConfigs ( )

constexprdefault

Member Function Documentation

◆ Deserialize()

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

inlineoverridevirtual

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

◆ Serialize()

std::string ctre::phoenix6::configs::FeedbackConfigs::Serialize ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

◆ ToString()

std::string ctre::phoenix6::configs::FeedbackConfigs::ToString ( ) const

inlineoverridevirtual

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

◆ WithFeedbackRemoteSensorID()

constexpr FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithFeedbackRemoteSensorID ( int newFeedbackRemoteSensorID )

inlineconstexpr

Modifies this configuration's FeedbackRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

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:

Parameters

newFeedbackRemoteSensorID Parameter to modify

Returns: Itself

◆ WithFeedbackRotorOffset()

constexpr FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithFeedbackRotorOffset ( units::angle::turn_t newFeedbackRotorOffset )

inlineconstexpr

Modifies this configuration's FeedbackRotorOffset parameter and returns itself for method-chaining and easier to use config API.

The offset 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

Parameters

newFeedbackRotorOffset Parameter to modify

Returns: Itself

◆ WithFeedbackSensorSource()

constexpr FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithFeedbackSensorSource ( signals::FeedbackSensorSourceValue newFeedbackSensorSource )

inlineconstexpr

Modifies this configuration's FeedbackSensorSource parameter and returns itself for method-chaining and easier to use config API.

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.

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon internal rotor will not be used.

Choose FusedCANcoder (requires Phoenix Pro) and Talon will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

Choose SyncCANcoder (requires Phoenix Pro) and Talon will synchronize its internal rotor position against another CANcoder, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

Note: When the feedback source is changed to FusedCANcoder or SyncCANcoder, 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.

Parameters

newFeedbackSensorSource Parameter to modify

Returns: Itself

◆ WithFusedCANcoder()

FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithFusedCANcoder ( const hardware::core::CoreCANcoder & device )

Helper method to configure this feedback group to use FusedCANcoder by passing in the CANcoder object.

When using FusedCANcoder (requires Phoenix Pro), the Talon will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth. FusedCANcoder was developed for applications such as swerve-azimuth.

Parameters

device CANcoder reference to use for FusedCANcoder

Returns: Itself

◆ WithRemoteCANcoder()

FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithRemoteCANcoder ( const hardware::core::CoreCANcoder & device )

Helper method to configure this feedback group to use RemoteCANcoder by passing in the CANcoder object.

When using RemoteCANcoder, the Talon will use another CANcoder on the same CAN bus. The Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon internal rotor will not be used.

Parameters

device CANcoder reference to use for RemoteCANcoder

Returns: Itself

◆ WithRotorToSensorRatio()

constexpr FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithRotorToSensorRatio ( units::dimensionless::scalar_t newRotorToSensorRatio )

inlineconstexpr

Modifies this configuration's RotorToSensorRatio parameter and returns itself for method-chaining and easier to use config API.

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The 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 motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

Parameters

newRotorToSensorRatio Parameter to modify

Returns: Itself

◆ WithSensorToMechanismRatio()

constexpr FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithSensorToMechanismRatio ( units::dimensionless::scalar_t newSensorToMechanismRatio )

inlineconstexpr

Modifies this configuration's SensorToMechanismRatio parameter and returns itself for method-chaining and easier to use config API.

The ratio of sensor rotations to the mechanism's output, where a ratio greater than 1 is a reduction.

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.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

Parameters

newSensorToMechanismRatio Parameter to modify

Returns: Itself

◆ WithSyncCANcoder()

FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithSyncCANcoder ( const hardware::core::CoreCANcoder & device )

Helper method to configure this feedback group to use SyncCANcoder by passing in the CANcoder object.

When using SyncCANcoder (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANcoder, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Parameters

device CANcoder reference to use for SyncCANcoder

Returns: Itself

◆ WithVelocityFilterTimeConstant()

constexpr FeedbackConfigs & ctre::phoenix6::configs::FeedbackConfigs::WithVelocityFilterTimeConstant ( units::time::second_t newVelocityFilterTimeConstant )

inlineconstexpr

Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chaining and easier to use config API.

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

Minimum Value: 0
Maximum Value: 1
Default Value: 0
Units: seconds

Parameters

newVelocityFilterTimeConstant Parameter to modify

Returns: Itself

Member Data Documentation

◆ FeedbackRemoteSensorID

int ctre::phoenix6::configs::FeedbackConfigs::FeedbackRemoteSensorID = 0

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:

◆ FeedbackRotorOffset

units::angle::turn_t ctre::phoenix6::configs::FeedbackConfigs::FeedbackRotorOffset = 0.0_tr

The offset 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

◆ FeedbackSensorSource

signals::FeedbackSensorSourceValue ctre::phoenix6::configs::FeedbackConfigs::FeedbackSensorSource = signals::FeedbackSensorSourceValue::RotorSensor

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.

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon internal rotor will not be used.

Choose FusedCANcoder (requires Phoenix Pro) and Talon will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

Choose SyncCANcoder (requires Phoenix Pro) and Talon will synchronize its internal rotor position against another CANcoder, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

Note: When the feedback source is changed to FusedCANcoder or SyncCANcoder, 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.

◆ RotorToSensorRatio

units::dimensionless::scalar_t ctre::phoenix6::configs::FeedbackConfigs::RotorToSensorRatio = 1.0

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The 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 motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

◆ SensorToMechanismRatio

units::dimensionless::scalar_t ctre::phoenix6::configs::FeedbackConfigs::SensorToMechanismRatio = 1.0

The ratio of sensor rotations to the mechanism's output, where a ratio greater than 1 is a reduction.

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.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

◆ VelocityFilterTimeConstant

units::time::second_t ctre::phoenix6::configs::FeedbackConfigs::VelocityFilterTimeConstant = 0_s

The configurable time constant of the Kalman velocity filter.

The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

Minimum Value: 0
Maximum Value: 1
Default Value: 0
Units: seconds

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

ctre/phoenix6/configs/Configs.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FeedbackConfigs()

Member Function Documentation

◆ Deserialize()

◆ Serialize()

◆ ToString()

◆ WithFeedbackRemoteSensorID()

◆ WithFeedbackRotorOffset()

◆ WithFeedbackSensorSource()

◆ WithFusedCANcoder()

◆ WithRemoteCANcoder()

◆ WithRotorToSensorRatio()

◆ WithSensorToMechanismRatio()

◆ WithSyncCANcoder()

◆ WithVelocityFilterTimeConstant()

Member Data Documentation

◆ FeedbackRemoteSensorID

◆ FeedbackRotorOffset

◆ FeedbackSensorSource

◆ RotorToSensorRatio

◆ SensorToMechanismRatio

◆ VelocityFilterTimeConstant