Class description for the Talon FX integrated motor controller. More...

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

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

Public Member Functions
constexpr	TalonFXConfiguration ()=default

constexpr TalonFXConfiguration &	WithMotorOutput (MotorOutputConfigs newMotorOutput)
	Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithCurrentLimits (CurrentLimitsConfigs newCurrentLimits)
	Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithVoltage (VoltageConfigs newVoltage)
	Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithTorqueCurrent (TorqueCurrentConfigs newTorqueCurrent)
	Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithFeedback (FeedbackConfigs newFeedback)
	Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithDifferentialSensors (DifferentialSensorsConfigs newDifferentialSensors)
	Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithDifferentialConstants (DifferentialConstantsConfigs newDifferentialConstants)
	Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithOpenLoopRamps (OpenLoopRampsConfigs newOpenLoopRamps)
	Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithClosedLoopRamps (ClosedLoopRampsConfigs newClosedLoopRamps)
	Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithHardwareLimitSwitch (HardwareLimitSwitchConfigs newHardwareLimitSwitch)
	Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithAudio (AudioConfigs newAudio)
	Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithSoftwareLimitSwitch (SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)
	Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithMotionMagic (MotionMagicConfigs newMotionMagic)
	Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithCustomParams (CustomParamsConfigs newCustomParams)
	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithClosedLoopGeneral (ClosedLoopGeneralConfigs newClosedLoopGeneral)
	Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithSlot0 (Slot0Configs newSlot0)
	Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithSlot1 (Slot1Configs newSlot1)
	Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.

constexpr TalonFXConfiguration &	WithSlot2 (Slot2Configs newSlot2)
	Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.

std::string	ToString () const
	Get the string representation of this configuration.

std::string	Serialize () const
	Get the serialized form of this configuration.

ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize)
	Take a string and deserialize it to this configuration.

Public Attributes
bool	FutureProofConfigs {true}
	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

MotorOutputConfigs	MotorOutput
	Configs that directly affect motor output.

CurrentLimitsConfigs	CurrentLimits
	Configs that directly affect current limiting features.

VoltageConfigs	Voltage
	Configs that affect Voltage control types.

TorqueCurrentConfigs	TorqueCurrent
	Configs that affect Torque Current control types.

FeedbackConfigs	Feedback
	Configs that affect the feedback of this motor controller.

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

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

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

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

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

AudioConfigs	Audio
	Configs that affect audible components of the device.

SoftwareLimitSwitchConfigs	SoftwareLimitSwitch
	Configs that affect how software-limit switches behave.

MotionMagicConfigs	MotionMagic
	Configs for Motion Magic®.

CustomParamsConfigs	CustomParams
	Custom Params.

ClosedLoopGeneralConfigs	ClosedLoopGeneral
	Configs that affect general behavior during closed-looping.

Slot0Configs	Slot0
	Gains for the specified slot.

Slot1Configs	Slot1
	Gains for the specified slot.

Slot2Configs	Slot2
	Gains for the specified slot.

Detailed Description

Class description for the Talon FX integrated motor controller.

This handles the configurations for the hardware::TalonFX

Constructor & Destructor Documentation

◆ TalonFXConfiguration()

constexpr ctre::phoenix6::configs::TalonFXConfiguration::TalonFXConfiguration ( )

constexprdefault

Member Function Documentation

◆ Deserialize()

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

inlinevirtual

Take a string and deserialize it to this configuration.

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

◆ Serialize()

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

inlinevirtual

Get the serialized form of this configuration.

Implements ctre::phoenix6::ISerializable.

◆ ToString()

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

inlinevirtual

Get the string representation of this configuration.

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

◆ WithAudio()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithAudio ( AudioConfigs newAudio )

inlineconstexpr

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

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameters

newAudio Parameter to modify

Returns: Itself

◆ WithClosedLoopGeneral()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithClosedLoopGeneral ( ClosedLoopGeneralConfigs newClosedLoopGeneral )

inlineconstexpr

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

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameters

newClosedLoopGeneral Parameter to modify

Returns: Itself

◆ WithClosedLoopRamps()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithClosedLoopRamps ( ClosedLoopRampsConfigs newClosedLoopRamps )

inlineconstexpr

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

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

Closed-loop ramp rates for the various control types.

Parameters

newClosedLoopRamps Parameter to modify

Returns: Itself

◆ WithCurrentLimits()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithCurrentLimits ( CurrentLimitsConfigs newCurrentLimits )

inlineconstexpr

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

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameters

newCurrentLimits Parameter to modify

Returns: Itself

◆ WithCustomParams()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithCustomParams ( CustomParamsConfigs newCustomParams )

inlineconstexpr

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

Custom Params.

Custom paramaters that have no real impact on controller.

Parameters

newCustomParams Parameter to modify

Returns: Itself

◆ WithDifferentialConstants()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithDifferentialConstants ( DifferentialConstantsConfigs newDifferentialConstants )

inlineconstexpr

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

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

Includes the differential peak outputs.

Parameters

newDifferentialConstants Parameter to modify

Returns: Itself

◆ WithDifferentialSensors()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithDifferentialSensors ( DifferentialSensorsConfigs newDifferentialSensors )

inlineconstexpr

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

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

Includes the differential sensor sources and IDs.

Parameters

newDifferentialSensors Parameter to modify

Returns: Itself

◆ WithFeedback()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithFeedback ( FeedbackConfigs newFeedback )

inlineconstexpr

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

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.

Parameters

newFeedback Parameter to modify

Returns: Itself

◆ WithHardwareLimitSwitch()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithHardwareLimitSwitch ( HardwareLimitSwitchConfigs newHardwareLimitSwitch )

inlineconstexpr

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

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.

Parameters

newHardwareLimitSwitch Parameter to modify

Returns: Itself

◆ WithMotionMagic()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithMotionMagic ( MotionMagicConfigs newMotionMagic )

inlineconstexpr

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

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameters

newMotionMagic Parameter to modify

Returns: Itself

◆ WithMotorOutput()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithMotorOutput ( MotorOutputConfigs newMotorOutput )

inlineconstexpr

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

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameters

newMotorOutput Parameter to modify

Returns: Itself

◆ WithOpenLoopRamps()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithOpenLoopRamps ( OpenLoopRampsConfigs newOpenLoopRamps )

inlineconstexpr

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

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

Open-loop ramp rates for the various control types.

Parameters

newOpenLoopRamps Parameter to modify

Returns: Itself

◆ WithSlot0()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSlot0 ( Slot0Configs newSlot0 )

inlineconstexpr

Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

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

Parameters

newSlot0 Parameter to modify

Returns: Itself

◆ WithSlot1()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSlot1 ( Slot1Configs newSlot1 )

inlineconstexpr

Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

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

Parameters

newSlot1 Parameter to modify

Returns: Itself

◆ WithSlot2()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSlot2 ( Slot2Configs newSlot2 )

inlineconstexpr

Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

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

Parameters

newSlot2 Parameter to modify

Returns: Itself

◆ WithSoftwareLimitSwitch()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSoftwareLimitSwitch ( SoftwareLimitSwitchConfigs newSoftwareLimitSwitch )

inlineconstexpr

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

Configs that affect how software-limit switches behave.

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

Parameters

newSoftwareLimitSwitch Parameter to modify

Returns: Itself

◆ WithTorqueCurrent()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithTorqueCurrent ( TorqueCurrentConfigs newTorqueCurrent )

inlineconstexpr

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

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Parameters

newTorqueCurrent Parameter to modify

Returns: Itself

◆ WithVoltage()

constexpr TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithVoltage ( VoltageConfigs newVoltage )

inlineconstexpr

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

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameters

newVoltage Parameter to modify

Returns: Itself

Member Data Documentation

◆ Audio

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

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

◆ ClosedLoopGeneral

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

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

◆ ClosedLoopRamps

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

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

Closed-loop ramp rates for the various control types.

◆ CurrentLimits

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

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

◆ CustomParams

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

Custom Params.

Custom paramaters that have no real impact on controller.

◆ DifferentialConstants

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

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

Includes the differential peak outputs.

◆ DifferentialSensors

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

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

Includes the differential sensor sources and IDs.

◆ Feedback

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

Configs that affect the feedback of this motor controller.

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

◆ FutureProofConfigs

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

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

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

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

◆ HardwareLimitSwitch

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

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

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

◆ MotionMagic

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

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

◆ MotorOutput

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

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

◆ OpenLoopRamps

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

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

Open-loop ramp rates for the various control types.

◆ Slot0

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

Gains for the specified slot.

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

◆ Slot1

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

Gains for the specified slot.

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

◆ Slot2

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

Gains for the specified slot.

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

◆ SoftwareLimitSwitch

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

Configs that affect how software-limit switches behave.

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

◆ TorqueCurrent

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

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

◆ Voltage

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

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

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

ctre/phoenix6/core/CoreTalonFX.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TalonFXConfiguration()

Member Function Documentation

◆ Deserialize()

◆ Serialize()

◆ ToString()

◆ WithAudio()

◆ WithClosedLoopGeneral()

◆ WithClosedLoopRamps()

◆ WithCurrentLimits()

◆ WithCustomParams()

◆ WithDifferentialConstants()

◆ WithDifferentialSensors()

◆ WithFeedback()

◆ WithHardwareLimitSwitch()

◆ WithMotionMagic()

◆ WithMotorOutput()

◆ WithOpenLoopRamps()

◆ WithSlot0()

◆ WithSlot1()

◆ WithSlot2()

◆ WithSoftwareLimitSwitch()

◆ WithTorqueCurrent()

◆ WithVoltage()

Member Data Documentation

◆ Audio

◆ ClosedLoopGeneral

◆ ClosedLoopRamps

◆ CurrentLimits

◆ CustomParams

◆ DifferentialConstants

◆ DifferentialSensors

◆ Feedback

◆ FutureProofConfigs

◆ HardwareLimitSwitch

◆ MotionMagic

◆ MotorOutput

◆ OpenLoopRamps

◆ Slot0

◆ Slot1

◆ Slot2

◆ SoftwareLimitSwitch

◆ TorqueCurrent

◆ Voltage