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

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

Inheritance diagram for ctre::phoenix6::configs::HardwareLimitSwitchConfigs:

Public Member Functions
constexpr	HardwareLimitSwitchConfigs ()=default

constexpr HardwareLimitSwitchConfigs &	WithForwardLimitType (signals::ForwardLimitTypeValue newForwardLimitType)
	Modifies this configuration's ForwardLimitType parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithForwardLimitAutosetPositionEnable (bool newForwardLimitAutosetPositionEnable)
	Modifies this configuration's ForwardLimitAutosetPositionEnable parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithForwardLimitAutosetPositionValue (units::angle::turn_t newForwardLimitAutosetPositionValue)
	Modifies this configuration's ForwardLimitAutosetPositionValue parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithForwardLimitEnable (bool newForwardLimitEnable)
	Modifies this configuration's ForwardLimitEnable parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithForwardLimitSource (signals::ForwardLimitSourceValue newForwardLimitSource)
	Modifies this configuration's ForwardLimitSource parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithForwardLimitRemoteSensorID (int newForwardLimitRemoteSensorID)
	Modifies this configuration's ForwardLimitRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithReverseLimitType (signals::ReverseLimitTypeValue newReverseLimitType)
	Modifies this configuration's ReverseLimitType parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithReverseLimitAutosetPositionEnable (bool newReverseLimitAutosetPositionEnable)
	Modifies this configuration's ReverseLimitAutosetPositionEnable parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithReverseLimitAutosetPositionValue (units::angle::turn_t newReverseLimitAutosetPositionValue)
	Modifies this configuration's ReverseLimitAutosetPositionValue parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithReverseLimitEnable (bool newReverseLimitEnable)
	Modifies this configuration's ReverseLimitEnable parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithReverseLimitSource (signals::ReverseLimitSourceValue newReverseLimitSource)
	Modifies this configuration's ReverseLimitSource parameter and returns itself for method-chaining and easier to use config API.

constexpr HardwareLimitSwitchConfigs &	WithReverseLimitRemoteSensorID (int newReverseLimitRemoteSensorID)
	Modifies this configuration's ReverseLimitRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

HardwareLimitSwitchConfigs &	WithForwardLimitRemoteTalonFX (const hardware::core::CoreTalonFX &device)
	Helper method to configure this feedback group to use RemoteTalonFX forward limit switch by passing in the TalonFX object.

HardwareLimitSwitchConfigs &	WithForwardLimitRemoteCANcoder (const hardware::core::CoreCANcoder &device)
	Helper method to configure this feedback group to use RemoteCANcoder forward limit switch by passing in the CANcoder object.

HardwareLimitSwitchConfigs &	WithReverseLimitRemoteTalonFX (const hardware::core::CoreTalonFX &device)
	Helper method to configure this feedback group to use RemoteTalonFX reverse limit switch by passing in the TalonFX object.

HardwareLimitSwitchConfigs &	WithReverseLimitRemoteCANcoder (const hardware::core::CoreCANcoder &device)
	Helper method to configure this feedback group to use RemoteCANcoder reverse limit switch 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
signals::ForwardLimitTypeValue	ForwardLimitType = signals::ForwardLimitTypeValue::NormallyOpen
	Determines if the forward limit switch is normally-open (default) or normally-closed.

bool	ForwardLimitAutosetPositionEnable = false
	If enabled, the position is automatically set to a specific value, specified by ForwardLimitAutosetPositionValue, when the forward limit switch is asserted.

units::angle::turn_t	ForwardLimitAutosetPositionValue = 0_tr
	The value to automatically set the position to when the forward limit switch is asserted.

bool	ForwardLimitEnable = true
	If enabled, motor output is set to neutral when the forward limit switch is asserted and positive output is requested.

signals::ForwardLimitSourceValue	ForwardLimitSource = signals::ForwardLimitSourceValue::LimitSwitchPin
	Determines where to poll the forward limit switch.

int	ForwardLimitRemoteSensorID = 0
	Device ID of the remote device if using remote limit switch features for the forward limit switch.

signals::ReverseLimitTypeValue	ReverseLimitType = signals::ReverseLimitTypeValue::NormallyOpen
	Determines if the reverse limit switch is normally-open (default) or normally-closed.

bool	ReverseLimitAutosetPositionEnable = false
	If enabled, the position is automatically set to a specific value, specified by ReverseLimitAutosetPositionValue, when the reverse limit switch is asserted.

units::angle::turn_t	ReverseLimitAutosetPositionValue = 0_tr
	The value to automatically set the position to when the reverse limit switch is asserted.

bool	ReverseLimitEnable = true
	If enabled, motor output is set to neutral when reverse limit switch is asseted and negative output is requested.

signals::ReverseLimitSourceValue	ReverseLimitSource = signals::ReverseLimitSourceValue::LimitSwitchPin
	Determines where to poll the reverse limit switch.

int	ReverseLimitRemoteSensorID = 0
	Device ID of the remote device if using remote limit switch features for the reverse limit switch.

Detailed Description

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

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

Constructor & Destructor Documentation

◆ HardwareLimitSwitchConfigs()

constexpr ctre::phoenix6::configs::HardwareLimitSwitchConfigs::HardwareLimitSwitchConfigs ( )

constexprdefault

Member Function Documentation

◆ Deserialize()

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

inlineoverridevirtual

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

◆ Serialize()

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

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

◆ ToString()

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

inlineoverridevirtual

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

◆ WithForwardLimitAutosetPositionEnable()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitAutosetPositionEnable ( bool newForwardLimitAutosetPositionEnable )

inlineconstexpr

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

If enabled, the position is automatically set to a specific value, specified by ForwardLimitAutosetPositionValue, when the forward limit switch is asserted.

Default Value: False

Parameters

newForwardLimitAutosetPositionEnable Parameter to modify

Returns: Itself

◆ WithForwardLimitAutosetPositionValue()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitAutosetPositionValue ( units::angle::turn_t newForwardLimitAutosetPositionValue )

inlineconstexpr

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

The value to automatically set the position to when the forward limit switch is asserted. This has no effect if ForwardLimitAutosetPositionEnable is false.

Minimum Value: -3.4e+38
Maximum Value: 3.4e+38
Default Value: 0
Units: rotations

Parameters

newForwardLimitAutosetPositionValue Parameter to modify

Returns: Itself

◆ WithForwardLimitEnable()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitEnable ( bool newForwardLimitEnable )

inlineconstexpr

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

If enabled, motor output is set to neutral when the forward limit switch is asserted and positive output is requested.

Default Value: True

Parameters

newForwardLimitEnable Parameter to modify

Returns: Itself

◆ WithForwardLimitRemoteCANcoder()

HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitRemoteCANcoder ( const hardware::core::CoreCANcoder & device )

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

When using RemoteCANcoder, the Talon FX will use another CANcoder on the same CAN bus. The forward limit will assert when the CANcoder magnet strength changes from BAD (red) to ADEQUATE (orange) or GOOD (green).

Parameters

device CANcoder reference to use for RemoteCANcoder forward limit switch

Returns: Itself

◆ WithForwardLimitRemoteSensorID()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitRemoteSensorID ( int newForwardLimitRemoteSensorID )

inlineconstexpr

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

Device ID of the remote device if using remote limit switch features for the forward limit switch.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

Parameters

newForwardLimitRemoteSensorID Parameter to modify

Returns: Itself

◆ WithForwardLimitRemoteTalonFX()

HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitRemoteTalonFX ( const hardware::core::CoreTalonFX & device )

Helper method to configure this feedback group to use RemoteTalonFX forward limit switch by passing in the TalonFX object.

When using RemoteTalonFX, the Talon FX will use the forward limit switch attached to another Talon FX on the same CAN bus.

Parameters

device TalonFX reference to use for RemoteTalonFX forward limit switch

Returns: Itself

◆ WithForwardLimitSource()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitSource ( signals::ForwardLimitSourceValue newForwardLimitSource )

inlineconstexpr

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

Determines where to poll the forward limit switch. This defaults to the forward limit switch pin on the limit switch connector.

Choose RemoteTalonFX to use the forward limit switch attached to another Talon FX on the same CAN bus (this also requires setting ForwardLimitRemoteSensorID).

Choose RemoteCANifier to use the forward limit switch attached to another CANifier on the same CAN bus (this also requires setting ForwardLimitRemoteSensorID).

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting ForwardLimitRemoteSensorID). The forward limit will assert when the CANcoder magnet strength changes from BAD (red) to ADEQUATE (orange) or GOOD (green).

Parameters

newForwardLimitSource Parameter to modify

Returns: Itself

◆ WithForwardLimitType()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithForwardLimitType ( signals::ForwardLimitTypeValue newForwardLimitType )

inlineconstexpr

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

Determines if the forward limit switch is normally-open (default) or normally-closed.

Parameters

newForwardLimitType Parameter to modify

Returns: Itself

◆ WithReverseLimitAutosetPositionEnable()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitAutosetPositionEnable ( bool newReverseLimitAutosetPositionEnable )

inlineconstexpr

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

If enabled, the position is automatically set to a specific value, specified by ReverseLimitAutosetPositionValue, when the reverse limit switch is asserted.

Default Value: False

Parameters

newReverseLimitAutosetPositionEnable Parameter to modify

Returns: Itself

◆ WithReverseLimitAutosetPositionValue()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitAutosetPositionValue ( units::angle::turn_t newReverseLimitAutosetPositionValue )

inlineconstexpr

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

The value to automatically set the position to when the reverse limit switch is asserted. This has no effect if ReverseLimitAutosetPositionEnable is false.

Minimum Value: -3.4e+38
Maximum Value: 3.4e+38
Default Value: 0
Units: rotations

Parameters

newReverseLimitAutosetPositionValue Parameter to modify

Returns: Itself

◆ WithReverseLimitEnable()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitEnable ( bool newReverseLimitEnable )

inlineconstexpr

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

If enabled, motor output is set to neutral when reverse limit switch is asseted and negative output is requested.

Default Value: True

Parameters

newReverseLimitEnable Parameter to modify

Returns: Itself

◆ WithReverseLimitRemoteCANcoder()

HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitRemoteCANcoder ( const hardware::core::CoreCANcoder & device )

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

When using RemoteCANcoder, the Talon FX will use another CANcoder on the same CAN bus. The reverse limit will assert when the CANcoder magnet strength changes from BAD (red) to ADEQUATE (orange) or GOOD (green).

Parameters

device CANcoder reference to use for RemoteCANcoder reverse limit switch

Returns: Itself

◆ WithReverseLimitRemoteSensorID()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitRemoteSensorID ( int newReverseLimitRemoteSensorID )

inlineconstexpr

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

Device ID of the remote device if using remote limit switch features for the reverse limit switch.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

Parameters

newReverseLimitRemoteSensorID Parameter to modify

Returns: Itself

◆ WithReverseLimitRemoteTalonFX()

HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitRemoteTalonFX ( const hardware::core::CoreTalonFX & device )

Helper method to configure this feedback group to use RemoteTalonFX reverse limit switch by passing in the TalonFX object.

When using RemoteTalonFX, the Talon FX will use the reverse limit switch attached to another Talon FX on the same CAN bus.

Parameters

device TalonFX reference to use for RemoteTalonFX reverse limit switch

Returns: Itself

◆ WithReverseLimitSource()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitSource ( signals::ReverseLimitSourceValue newReverseLimitSource )

inlineconstexpr

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

Determines where to poll the reverse limit switch. This defaults to the reverse limit switch pin on the limit switch connector.

Choose RemoteTalonFX to use the reverse limit switch attached to another Talon FX on the same CAN bus (this also requires setting ReverseLimitRemoteSensorID).

Choose RemoteCANifier to use the reverse limit switch attached to another CANifier on the same CAN bus (this also requires setting ReverseLimitRemoteSensorID).

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting ReverseLimitRemoteSensorID). The reverse limit will assert when the CANcoder magnet strength changes from BAD (red) to ADEQUATE (orange) or GOOD (green).

Parameters

newReverseLimitSource Parameter to modify

Returns: Itself

◆ WithReverseLimitType()

constexpr HardwareLimitSwitchConfigs & ctre::phoenix6::configs::HardwareLimitSwitchConfigs::WithReverseLimitType ( signals::ReverseLimitTypeValue newReverseLimitType )

inlineconstexpr

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

Determines if the reverse limit switch is normally-open (default) or normally-closed.

Parameters

newReverseLimitType Parameter to modify

Returns: Itself

Member Data Documentation

◆ ForwardLimitAutosetPositionEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionEnable = false

If enabled, the position is automatically set to a specific value, specified by ForwardLimitAutosetPositionValue, when the forward limit switch is asserted.

Default Value: False

◆ ForwardLimitAutosetPositionValue

units::angle::turn_t ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionValue = 0_tr

The value to automatically set the position to when the forward limit switch is asserted.

This has no effect if ForwardLimitAutosetPositionEnable is false.

Minimum Value: -3.4e+38
Maximum Value: 3.4e+38
Default Value: 0
Units: rotations

◆ ForwardLimitEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitEnable = true

If enabled, motor output is set to neutral when the forward limit switch is asserted and positive output is requested.

Default Value: True

◆ ForwardLimitRemoteSensorID

int ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitRemoteSensorID = 0

Device ID of the remote device if using remote limit switch features for the forward limit switch.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

◆ ForwardLimitSource

signals::ForwardLimitSourceValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitSource = signals::ForwardLimitSourceValue::LimitSwitchPin

Determines where to poll the forward limit switch.

This defaults to the forward limit switch pin on the limit switch connector.

Choose RemoteTalonFX to use the forward limit switch attached to another Talon FX on the same CAN bus (this also requires setting ForwardLimitRemoteSensorID).

Choose RemoteCANifier to use the forward limit switch attached to another CANifier on the same CAN bus (this also requires setting ForwardLimitRemoteSensorID).

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting ForwardLimitRemoteSensorID). The forward limit will assert when the CANcoder magnet strength changes from BAD (red) to ADEQUATE (orange) or GOOD (green).

◆ ForwardLimitType

signals::ForwardLimitTypeValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitType = signals::ForwardLimitTypeValue::NormallyOpen

Determines if the forward limit switch is normally-open (default) or normally-closed.

◆ ReverseLimitAutosetPositionEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionEnable = false

If enabled, the position is automatically set to a specific value, specified by ReverseLimitAutosetPositionValue, when the reverse limit switch is asserted.

Default Value: False

◆ ReverseLimitAutosetPositionValue

units::angle::turn_t ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionValue = 0_tr

The value to automatically set the position to when the reverse limit switch is asserted.

This has no effect if ReverseLimitAutosetPositionEnable is false.

Minimum Value: -3.4e+38
Maximum Value: 3.4e+38
Default Value: 0
Units: rotations

◆ ReverseLimitEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitEnable = true

If enabled, motor output is set to neutral when reverse limit switch is asseted and negative output is requested.

Default Value: True

◆ ReverseLimitRemoteSensorID

int ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitRemoteSensorID = 0

Device ID of the remote device if using remote limit switch features for the reverse limit switch.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

◆ ReverseLimitSource

signals::ReverseLimitSourceValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitSource = signals::ReverseLimitSourceValue::LimitSwitchPin

Determines where to poll the reverse limit switch.

This defaults to the reverse limit switch pin on the limit switch connector.

Choose RemoteTalonFX to use the reverse limit switch attached to another Talon FX on the same CAN bus (this also requires setting ReverseLimitRemoteSensorID).

Choose RemoteCANifier to use the reverse limit switch attached to another CANifier on the same CAN bus (this also requires setting ReverseLimitRemoteSensorID).

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting ReverseLimitRemoteSensorID). The reverse limit will assert when the CANcoder magnet strength changes from BAD (red) to ADEQUATE (orange) or GOOD (green).

◆ ReverseLimitType

signals::ReverseLimitTypeValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitType = signals::ReverseLimitTypeValue::NormallyOpen

Determines if the reverse limit switch is normally-open (default) or normally-closed.

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

◆ HardwareLimitSwitchConfigs()

Member Function Documentation

◆ Deserialize()

◆ Serialize()

◆ ToString()

◆ WithForwardLimitAutosetPositionEnable()

◆ WithForwardLimitAutosetPositionValue()

◆ WithForwardLimitEnable()

◆ WithForwardLimitRemoteCANcoder()

◆ WithForwardLimitRemoteSensorID()

◆ WithForwardLimitRemoteTalonFX()

◆ WithForwardLimitSource()

◆ WithForwardLimitType()

◆ WithReverseLimitAutosetPositionEnable()

◆ WithReverseLimitAutosetPositionValue()

◆ WithReverseLimitEnable()

◆ WithReverseLimitRemoteCANcoder()

◆ WithReverseLimitRemoteSensorID()

◆ WithReverseLimitRemoteTalonFX()

◆ WithReverseLimitSource()

◆ WithReverseLimitType()

Member Data Documentation

◆ ForwardLimitAutosetPositionEnable

◆ ForwardLimitAutosetPositionValue

◆ ForwardLimitEnable

◆ ForwardLimitRemoteSensorID

◆ ForwardLimitSource

◆ ForwardLimitType

◆ ReverseLimitAutosetPositionEnable

◆ ReverseLimitAutosetPositionValue

◆ ReverseLimitEnable

◆ ReverseLimitRemoteSensorID

◆ ReverseLimitSource

◆ ReverseLimitType