|
| TalonFX (int deviceId, std::string canbus="") |
| Constructs a new Talon FX motor controller object.
|
|
| TalonFX (int deviceId, CANBus canbus) |
| Constructs a new Talon FX motor controller object.
|
|
| ~TalonFX () |
|
void | Set (double speed) |
| Common interface for setting the speed of a motor controller.
|
|
void | SetVoltage (units::volt_t volts) |
| Common interface for seting the direct voltage output of a motor controller.
|
|
double | Get () const |
| Common interface for getting the current set speed of a motor controller.
|
|
void | Disable () |
| Common interface for disabling a motor controller.
|
|
void | StopMotor () |
| Common interface to stop motor movement until Set is called again.
|
|
ctre::phoenix::StatusCode | SetInverted (bool isInverted) |
| Common interface for inverting direction of a motor controller.
|
|
bool | GetInverted () const |
| Common interface for returning the inversion state of a motor controller.
|
|
ctre::phoenix::StatusCode | SetNeutralMode (signals::NeutralModeValue neutralMode, units::second_t timeoutSeconds=100_ms) |
| Sets the mode of operation when output is neutral or disabled.
|
|
std::string | GetDescription () const |
|
void | InitSendable (wpi::SendableBuilder &builder) override |
|
void | Feed () |
| Feed the motor safety object.
|
|
void | SetExpiration (units::second_t expirationTime) |
| Set the expiration time for the corresponding motor safety object.
|
|
units::second_t | GetExpiration () const |
| Retrieve the timeout value for the corresponding motor safety object.
|
|
bool | IsAlive () const |
| Determine of the motor is still operating or has timed out.
|
|
void | SetSafetyEnabled (bool enabled) |
| Enable/disable motor safety for this device.
|
|
bool | IsSafetyEnabled () const |
| Return the state of the motor safety enabled flag.
|
|
| CoreTalonFX (int deviceId, std::string canbus="") |
| Constructs a new Talon FX motor controller object.
|
|
| CoreTalonFX (int deviceId, CANBus canbus) |
| Constructs a new Talon FX motor controller object.
|
|
configs::TalonFXConfigurator & | GetConfigurator () |
| Gets the configurator for this TalonFX.
|
|
configs::TalonFXConfigurator const & | GetConfigurator () const |
| Gets the configurator for this TalonFX.
|
|
sim::TalonFXSimState & | GetSimState () |
| Get the simulation state for this device.
|
|
StatusSignal< int > & | GetVersionMajor (bool refresh=true) override |
| App Major Version number.
|
|
StatusSignal< int > & | GetVersionMinor (bool refresh=true) override |
| App Minor Version number.
|
|
StatusSignal< int > & | GetVersionBugfix (bool refresh=true) override |
| App Bugfix Version number.
|
|
StatusSignal< int > & | GetVersionBuild (bool refresh=true) override |
| App Build Version number.
|
|
StatusSignal< int > & | GetVersion (bool refresh=true) override |
| Full Version.
|
|
StatusSignal< int > & | GetFaultField (bool refresh=true) override |
| Integer representing all faults.
|
|
StatusSignal< int > & | GetStickyFaultField (bool refresh=true) override |
| Integer representing all sticky faults.
|
|
StatusSignal< units::voltage::volt_t > & | GetMotorVoltage (bool refresh=true) override |
| The applied (output) motor voltage.
|
|
StatusSignal< signals::ForwardLimitValue > & | GetForwardLimit (bool refresh=true) override |
| Forward Limit Pin.
|
|
StatusSignal< signals::ReverseLimitValue > & | GetReverseLimit (bool refresh=true) override |
| Reverse Limit Pin.
|
|
StatusSignal< signals::AppliedRotorPolarityValue > & | GetAppliedRotorPolarity (bool refresh=true) override |
| The applied rotor polarity as seen from the front of the motor.
|
|
StatusSignal< units::dimensionless::scalar_t > & | GetDutyCycle (bool refresh=true) override |
| The applied motor duty cycle.
|
|
StatusSignal< units::current::ampere_t > & | GetTorqueCurrent (bool refresh=true) override |
| Current corresponding to the torque output by the motor.
|
|
StatusSignal< units::current::ampere_t > & | GetStatorCurrent (bool refresh=true) override |
| Current corresponding to the stator windings.
|
|
StatusSignal< units::current::ampere_t > & | GetSupplyCurrent (bool refresh=true) override |
| Measured supply side current.
|
|
StatusSignal< units::voltage::volt_t > & | GetSupplyVoltage (bool refresh=true) override |
| Measured supply voltage to the device.
|
|
StatusSignal< units::temperature::celsius_t > & | GetDeviceTemp (bool refresh=true) override |
| Temperature of device.
|
|
StatusSignal< units::temperature::celsius_t > & | GetProcessorTemp (bool refresh=true) override |
| Temperature of the processor.
|
|
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetRotorVelocity (bool refresh=true) override |
| Velocity of the motor rotor.
|
|
StatusSignal< units::angle::turn_t > & | GetRotorPosition (bool refresh=true) override |
| Position of the motor rotor.
|
|
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetVelocity (bool refresh=true) override |
| Velocity of the device in mechanism rotations per second.
|
|
StatusSignal< units::angle::turn_t > & | GetPosition (bool refresh=true) override |
| Position of the device in mechanism rotations.
|
|
StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & | GetAcceleration (bool refresh=true) override |
| Acceleration of the device in mechanism rotations per secondĀ².
|
|
StatusSignal< signals::ControlModeValue > & | GetControlMode (bool refresh=true) override |
| The active control mode of the motor controller.
|
|
StatusSignal< signals::MotionMagicIsRunningValue > & | GetMotionMagicIsRunning (bool refresh=true) override |
| Check if Motion MagicĀ® is running.
|
|
StatusSignal< signals::DeviceEnableValue > & | GetDeviceEnable (bool refresh=true) override |
| Indicates if device is actuator enabled.
|
|
StatusSignal< int > & | GetClosedLoopSlot (bool refresh=true) override |
| Closed loop slot in use.
|
|
StatusSignal< signals::MotorOutputStatusValue > & | GetMotorOutputStatus (bool refresh=true) override |
| Assess the status of the motor output with respect to load and supply.
|
|
StatusSignal< signals::DifferentialControlModeValue > & | GetDifferentialControlMode (bool refresh=true) override |
| The active control mode of the differential controller.
|
|
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetDifferentialAverageVelocity (bool refresh=true) override |
| Average component of the differential velocity of device.
|
|
StatusSignal< units::angle::turn_t > & | GetDifferentialAveragePosition (bool refresh=true) override |
| Average component of the differential position of device.
|
|
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetDifferentialDifferenceVelocity (bool refresh=true) override |
| Difference component of the differential velocity of device.
|
|
StatusSignal< units::angle::turn_t > & | GetDifferentialDifferencePosition (bool refresh=true) override |
| Difference component of the differential position of device.
|
|
StatusSignal< int > & | GetDifferentialClosedLoopSlot (bool refresh=true) override |
| Differential Closed loop slot in use.
|
|
StatusSignal< ctre::unit::newton_meters_per_ampere_t > & | GetMotorKT (bool refresh=true) override |
| The torque constant (K_T) of the motor.
|
|
StatusSignal< ctre::unit::rpm_per_volt_t > & | GetMotorKV (bool refresh=true) override |
| The velocity constant (K_V) of the motor.
|
|
StatusSignal< units::current::ampere_t > & | GetMotorStallCurrent (bool refresh=true) override |
| The stall current of the motor at 12 V output.
|
|
StatusSignal< signals::BridgeOutputValue > & | GetBridgeOutput (bool refresh=true) override |
| The applied output of the bridge.
|
|
StatusSignal< bool > & | GetIsProLicensed (bool refresh=true) override |
| Whether the device is Phoenix Pro licensed.
|
|
StatusSignal< units::temperature::celsius_t > & | GetAncillaryDeviceTemp (bool refresh=true) override |
| Temperature of device from second sensor.
|
|
StatusSignal< signals::ConnectedMotorValue > & | GetConnectedMotor (bool refresh=true) override |
| The type of motor attached to the Talon.
|
|
StatusSignal< bool > & | GetFault_Hardware (bool refresh=true) override |
| Hardware fault occurred.
|
|
StatusSignal< bool > & | GetStickyFault_Hardware (bool refresh=true) override |
| Hardware fault occurred.
|
|
StatusSignal< bool > & | GetFault_ProcTemp (bool refresh=true) override |
| Processor temperature exceeded limit.
|
|
StatusSignal< bool > & | GetStickyFault_ProcTemp (bool refresh=true) override |
| Processor temperature exceeded limit.
|
|
StatusSignal< bool > & | GetFault_DeviceTemp (bool refresh=true) override |
| Device temperature exceeded limit.
|
|
StatusSignal< bool > & | GetStickyFault_DeviceTemp (bool refresh=true) override |
| Device temperature exceeded limit.
|
|
StatusSignal< bool > & | GetFault_Undervoltage (bool refresh=true) override |
| Device supply voltage dropped to near brownout levels.
|
|
StatusSignal< bool > & | GetStickyFault_Undervoltage (bool refresh=true) override |
| Device supply voltage dropped to near brownout levels.
|
|
StatusSignal< bool > & | GetFault_BootDuringEnable (bool refresh=true) override |
| Device boot while detecting the enable signal.
|
|
StatusSignal< bool > & | GetStickyFault_BootDuringEnable (bool refresh=true) override |
| Device boot while detecting the enable signal.
|
|
StatusSignal< bool > & | GetFault_UnlicensedFeatureInUse (bool refresh=true) override |
| An unlicensed feature is in use, device may not behave as expected.
|
|
StatusSignal< bool > & | GetStickyFault_UnlicensedFeatureInUse (bool refresh=true) override |
| An unlicensed feature is in use, device may not behave as expected.
|
|
StatusSignal< bool > & | GetFault_BridgeBrownout (bool refresh=true) override |
| Bridge was disabled most likely due to supply voltage dropping too low.
|
|
StatusSignal< bool > & | GetStickyFault_BridgeBrownout (bool refresh=true) override |
| Bridge was disabled most likely due to supply voltage dropping too low.
|
|
StatusSignal< bool > & | GetFault_RemoteSensorReset (bool refresh=true) override |
| The remote sensor has reset.
|
|
StatusSignal< bool > & | GetStickyFault_RemoteSensorReset (bool refresh=true) override |
| The remote sensor has reset.
|
|
StatusSignal< bool > & | GetFault_MissingDifferentialFX (bool refresh=true) override |
| The remote Talon used for differential control is not present on CAN Bus.
|
|
StatusSignal< bool > & | GetStickyFault_MissingDifferentialFX (bool refresh=true) override |
| The remote Talon used for differential control is not present on CAN Bus.
|
|
StatusSignal< bool > & | GetFault_RemoteSensorPosOverflow (bool refresh=true) override |
| The remote sensor position has overflowed.
|
|
StatusSignal< bool > & | GetStickyFault_RemoteSensorPosOverflow (bool refresh=true) override |
| The remote sensor position has overflowed.
|
|
StatusSignal< bool > & | GetFault_OverSupplyV (bool refresh=true) override |
| Supply Voltage has exceeded the maximum voltage rating of device.
|
|
StatusSignal< bool > & | GetStickyFault_OverSupplyV (bool refresh=true) override |
| Supply Voltage has exceeded the maximum voltage rating of device.
|
|
StatusSignal< bool > & | GetFault_UnstableSupplyV (bool refresh=true) override |
| Supply Voltage is unstable.
|
|
StatusSignal< bool > & | GetStickyFault_UnstableSupplyV (bool refresh=true) override |
| Supply Voltage is unstable.
|
|
StatusSignal< bool > & | GetFault_ReverseHardLimit (bool refresh=true) override |
| Reverse limit switch has been asserted.
|
|
StatusSignal< bool > & | GetStickyFault_ReverseHardLimit (bool refresh=true) override |
| Reverse limit switch has been asserted.
|
|
StatusSignal< bool > & | GetFault_ForwardHardLimit (bool refresh=true) override |
| Forward limit switch has been asserted.
|
|
StatusSignal< bool > & | GetStickyFault_ForwardHardLimit (bool refresh=true) override |
| Forward limit switch has been asserted.
|
|
StatusSignal< bool > & | GetFault_ReverseSoftLimit (bool refresh=true) override |
| Reverse soft limit has been asserted.
|
|
StatusSignal< bool > & | GetStickyFault_ReverseSoftLimit (bool refresh=true) override |
| Reverse soft limit has been asserted.
|
|
StatusSignal< bool > & | GetFault_ForwardSoftLimit (bool refresh=true) override |
| Forward soft limit has been asserted.
|
|
StatusSignal< bool > & | GetStickyFault_ForwardSoftLimit (bool refresh=true) override |
| Forward soft limit has been asserted.
|
|
StatusSignal< bool > & | GetFault_MissingSoftLimitRemote (bool refresh=true) override |
| The remote soft limit device is not present on CAN Bus.
|
|
StatusSignal< bool > & | GetStickyFault_MissingSoftLimitRemote (bool refresh=true) override |
| The remote soft limit device is not present on CAN Bus.
|
|
StatusSignal< bool > & | GetFault_MissingHardLimitRemote (bool refresh=true) override |
| The remote limit switch device is not present on CAN Bus.
|
|
StatusSignal< bool > & | GetStickyFault_MissingHardLimitRemote (bool refresh=true) override |
| The remote limit switch device is not present on CAN Bus.
|
|
StatusSignal< bool > & | GetFault_RemoteSensorDataInvalid (bool refresh=true) override |
| The remote sensor's data is no longer trusted.
|
|
StatusSignal< bool > & | GetStickyFault_RemoteSensorDataInvalid (bool refresh=true) override |
| The remote sensor's data is no longer trusted.
|
|
StatusSignal< bool > & | GetFault_FusedSensorOutOfSync (bool refresh=true) override |
| The remote sensor used for fusion has fallen out of sync to the local sensor.
|
|
StatusSignal< bool > & | GetStickyFault_FusedSensorOutOfSync (bool refresh=true) override |
| The remote sensor used for fusion has fallen out of sync to the local sensor.
|
|
StatusSignal< bool > & | GetFault_StatorCurrLimit (bool refresh=true) override |
| Stator current limit occured.
|
|
StatusSignal< bool > & | GetStickyFault_StatorCurrLimit (bool refresh=true) override |
| Stator current limit occured.
|
|
StatusSignal< bool > & | GetFault_SupplyCurrLimit (bool refresh=true) override |
| Supply current limit occured.
|
|
StatusSignal< bool > & | GetStickyFault_SupplyCurrLimit (bool refresh=true) override |
| Supply current limit occured.
|
|
StatusSignal< bool > & | GetFault_UsingFusedCANcoderWhileUnlicensed (bool refresh=true) override |
| Using Fused CANcoder feature while unlicensed.
|
|
StatusSignal< bool > & | GetStickyFault_UsingFusedCANcoderWhileUnlicensed (bool refresh=true) override |
| Using Fused CANcoder feature while unlicensed.
|
|
StatusSignal< bool > & | GetFault_StaticBrakeDisabled (bool refresh=true) override |
| Static brake was momentarily disabled due to excessive braking current while disabled.
|
|
StatusSignal< bool > & | GetStickyFault_StaticBrakeDisabled (bool refresh=true) override |
| Static brake was momentarily disabled due to excessive braking current while disabled.
|
|
StatusSignal< double > & | GetClosedLoopProportionalOutput (bool refresh=true) override |
| Closed loop proportional component.
|
|
StatusSignal< double > & | GetClosedLoopIntegratedOutput (bool refresh=true) override |
| Closed loop integrated component.
|
|
StatusSignal< double > & | GetClosedLoopFeedForward (bool refresh=true) override |
| Feedforward passed by the user.
|
|
StatusSignal< double > & | GetClosedLoopDerivativeOutput (bool refresh=true) override |
| Closed loop derivative component.
|
|
StatusSignal< double > & | GetClosedLoopOutput (bool refresh=true) override |
| Closed loop total output.
|
|
StatusSignal< double > & | GetClosedLoopReference (bool refresh=true) override |
| Value that the closed loop is targeting.
|
|
StatusSignal< double > & | GetClosedLoopReferenceSlope (bool refresh=true) override |
| Derivative of the target that the closed loop is targeting.
|
|
StatusSignal< double > & | GetClosedLoopError (bool refresh=true) override |
| The difference between target reference and current measurement.
|
|
StatusSignal< double > & | GetDifferentialOutput (bool refresh=true) override |
| The calculated motor output for differential followers.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopProportionalOutput (bool refresh=true) override |
| Differential closed loop proportional component.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopIntegratedOutput (bool refresh=true) override |
| Differential closed loop integrated component.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopFeedForward (bool refresh=true) override |
| Differential Feedforward passed by the user.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopDerivativeOutput (bool refresh=true) override |
| Differential closed loop derivative component.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopOutput (bool refresh=true) override |
| Differential closed loop total output.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopReference (bool refresh=true) override |
| Value that the differential closed loop is targeting.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopReferenceSlope (bool refresh=true) override |
| Derivative of the target that the differential closed loop is targeting.
|
|
StatusSignal< double > & | GetDifferentialClosedLoopError (bool refresh=true) override |
| The difference between target differential reference and current measurement.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DutyCycleOut &request) override |
| Request a specified motor duty cycle.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::TorqueCurrentFOC &request) override |
| Request a specified motor current (field oriented control).
|
|
ctre::phoenix::StatusCode | SetControl (const controls::VoltageOut &request) override |
| Request a specified voltage.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::PositionDutyCycle &request) override |
| Request PID to target position with duty cycle feedforward.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::PositionVoltage &request) override |
| Request PID to target position with voltage feedforward.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::PositionTorqueCurrentFOC &request) override |
| Request PID to target position with torque current feedforward.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::VelocityDutyCycle &request) override |
| Request PID to target velocity with duty cycle feedforward.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::VelocityVoltage &request) override |
| Request PID to target velocity with voltage feedforward.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::VelocityTorqueCurrentFOC &request) override |
| Request PID to target velocity with torque current feedforward.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicDutyCycle &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicVoltage &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicTorqueCurrentFOC &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialDutyCycle &request) override |
| Request a specified motor duty cycle with a differential position closed-loop.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialVoltage &request) override |
| Request a specified voltage with a differential position closed-loop.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialPositionDutyCycle &request) override |
| Request PID to target position with a differential position setpoint.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialPositionVoltage &request) override |
| Request PID to target position with a differential position setpoint.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialVelocityDutyCycle &request) override |
| Request PID to target velocity with a differential position setpoint.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialVelocityVoltage &request) override |
| Request PID to target velocity with a differential position setpoint.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialMotionMagicDutyCycle &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialMotionMagicVoltage &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::Follower &request) override |
| Follow the motor output of another Talon.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::StrictFollower &request) override |
| Follow the motor output of another Talon while ignoring the master's invert setting.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialFollower &request) override |
| Follow the differential motor output of another Talon.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DifferentialStrictFollower &request) override |
| Follow the differential motor output of another Talon while ignoring the master's invert setting.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::NeutralOut &request) override |
| Request neutral output of actuator.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::CoastOut &request) override |
| Request coast neutral output of actuator.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::StaticBrake &request) override |
| Applies full neutral-brake by shorting motor leads together.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MusicTone &request) override |
| Plays a single tone at the user specified frequency.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicVelocityDutyCycle &request) override |
| Requests Motion MagicĀ® to target a final velocity using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicVelocityTorqueCurrentFOC &request) override |
| Requests Motion MagicĀ® to target a final velocity using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicVelocityVoltage &request) override |
| Requests Motion MagicĀ® to target a final velocity using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicExpoDutyCycle &request) override |
| Requests Motion MagicĀ® to target a final position using an exponential motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicExpoVoltage &request) override |
| Requests Motion MagicĀ® to target a final position using an exponential motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::MotionMagicExpoTorqueCurrentFOC &request) override |
| Requests Motion MagicĀ® to target a final position using an exponential motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DynamicMotionMagicDutyCycle &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DynamicMotionMagicVoltage &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::DynamicMotionMagicTorqueCurrentFOC &request) override |
| Requests Motion MagicĀ® to target a final position using a motion profile.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_DutyCycleOut_Position &request) override |
| Differential control with duty cycle average target and position difference target.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_PositionDutyCycle_Position &request) override |
| Differential control with position average target and position difference target using dutycycle control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VelocityDutyCycle_Position &request) override |
| Differential control with velocity average target and position difference target using dutycycle control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_MotionMagicDutyCycle_Position &request) override |
| Differential control with Motion MagicĀ® average target and position difference target using dutycycle control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_DutyCycleOut_Velocity &request) override |
| Differential control with duty cycle average target and velocity difference target.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_PositionDutyCycle_Velocity &request) override |
| Differential control with position average target and velocity difference target using dutycycle control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VelocityDutyCycle_Velocity &request) override |
| Differential control with velocity average target and velocity difference target using dutycycle control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_MotionMagicDutyCycle_Velocity &request) override |
| Differential control with Motion MagicĀ® average target and velocity difference target using dutycycle control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VoltageOut_Position &request) override |
| Differential control with voltage average target and position difference target.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_PositionVoltage_Position &request) override |
| Differential control with position average target and position difference target using voltage control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VelocityVoltage_Position &request) override |
| Differential control with velocity average target and position difference target using voltage control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_MotionMagicVoltage_Position &request) override |
| Differential control with Motion MagicĀ® average target and position difference target using voltage control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VoltageOut_Velocity &request) override |
| Differential control with voltage average target and velocity difference target.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_PositionVoltage_Velocity &request) override |
| Differential control with position average target and velocity difference target using voltage control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VelocityVoltage_Velocity &request) override |
| Differential control with velocity average target and velocity difference target using voltage control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_MotionMagicVoltage_Velocity &request) override |
| Differential control with Motion MagicĀ® average target and velocity difference target using voltage control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_TorqueCurrentFOC_Position &request) override |
| Differential control with torque current average target and position difference target.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_PositionTorqueCurrentFOC_Position &request) override |
| Differential control with position average target and position difference target using torque current control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VelocityTorqueCurrentFOC_Position &request) override |
| Differential control with velocity average target and position difference target using torque current control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &request) override |
| Differential control with Motion MagicĀ® average target and position difference target using torque current control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_TorqueCurrentFOC_Velocity &request) override |
| Differential control with torque current average target and velocity difference target.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &request) override |
| Differential control with position average target and velocity difference target using torque current control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &request) override |
| Differential control with velocity average target and velocity difference target using torque current control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &request) override |
| Differential control with Motion MagicĀ® average target and velocity difference target using torque current control.
|
|
ctre::phoenix::StatusCode | SetControl (const controls::ControlRequest &request) override |
| Control device with generic control request object.
|
|
ctre::phoenix::StatusCode | SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds) override |
| Sets the mechanism position of the device in mechanism rotations.
|
|
ctre::phoenix::StatusCode | SetPosition (units::angle::turn_t newValue) override |
| Sets the mechanism position of the device in mechanism rotations.
|
|
ctre::phoenix::StatusCode | ClearStickyFaults (units::time::second_t timeoutSeconds) override |
| Clear the sticky faults in the device.
|
|
ctre::phoenix::StatusCode | ClearStickyFaults () override |
| Clear the sticky faults in the device.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_Hardware (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Hardware fault occurred.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_Hardware () override |
| Clear sticky fault: Hardware fault occurred.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ProcTemp (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Processor temperature exceeded limit.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ProcTemp () override |
| Clear sticky fault: Processor temperature exceeded limit.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_DeviceTemp (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Device temperature exceeded limit.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_DeviceTemp () override |
| Clear sticky fault: Device temperature exceeded limit.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Device supply voltage dropped to near brownout levels.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_Undervoltage () override |
| Clear sticky fault: Device supply voltage dropped to near brownout levels.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Device boot while detecting the enable signal.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_BootDuringEnable () override |
| Clear sticky fault: Device boot while detecting the enable signal.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_UnlicensedFeatureInUse () override |
| Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_BridgeBrownout (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_BridgeBrownout () override |
| Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorReset (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote sensor has reset.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorReset () override |
| Clear sticky fault: The remote sensor has reset.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_MissingDifferentialFX (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_MissingDifferentialFX () override |
| Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorPosOverflow (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote sensor position has overflowed.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorPosOverflow () override |
| Clear sticky fault: The remote sensor position has overflowed.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_OverSupplyV (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_OverSupplyV () override |
| Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_UnstableSupplyV (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Supply Voltage is unstable.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_UnstableSupplyV () override |
| Clear sticky fault: Supply Voltage is unstable.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ReverseHardLimit (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Reverse limit switch has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ReverseHardLimit () override |
| Clear sticky fault: Reverse limit switch has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ForwardHardLimit (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Forward limit switch has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ForwardHardLimit () override |
| Clear sticky fault: Forward limit switch has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ReverseSoftLimit (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Reverse soft limit has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ReverseSoftLimit () override |
| Clear sticky fault: Reverse soft limit has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ForwardSoftLimit (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Forward soft limit has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_ForwardSoftLimit () override |
| Clear sticky fault: Forward soft limit has been asserted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_MissingSoftLimitRemote (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote soft limit device is not present on CAN Bus.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_MissingSoftLimitRemote () override |
| Clear sticky fault: The remote soft limit device is not present on CAN Bus.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_MissingHardLimitRemote (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote limit switch device is not present on CAN Bus.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_MissingHardLimitRemote () override |
| Clear sticky fault: The remote limit switch device is not present on CAN Bus.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorDataInvalid (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote sensor's data is no longer trusted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorDataInvalid () override |
| Clear sticky fault: The remote sensor's data is no longer trusted.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_FusedSensorOutOfSync (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_FusedSensorOutOfSync () override |
| Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_StatorCurrLimit (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Stator current limit occured.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_StatorCurrLimit () override |
| Clear sticky fault: Stator current limit occured.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_SupplyCurrLimit (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Supply current limit occured.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_SupplyCurrLimit () override |
| Clear sticky fault: Supply current limit occured.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_UsingFusedCANcoderWhileUnlicensed (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Using Fused CANcoder feature while unlicensed.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_UsingFusedCANcoderWhileUnlicensed () override |
| Clear sticky fault: Using Fused CANcoder feature while unlicensed.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_StaticBrakeDisabled (units::time::second_t timeoutSeconds) override |
| Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.
|
|
ctre::phoenix::StatusCode | ClearStickyFault_StaticBrakeDisabled () override |
| Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.
|
|
| ParentDevice (int deviceID, std::string model, std::string canbus) |
|
virtual | ~ParentDevice ()=default |
|
| ParentDevice (ParentDevice const &)=delete |
|
ParentDevice & | operator= (ParentDevice const &)=delete |
|
int | GetDeviceID () const |
|
const std::string & | GetNetwork () const |
|
uint64_t | GetDeviceHash () const |
| Gets a number unique for this device's hardware type and ID.
|
|
std::shared_ptr< const controls::ControlRequest > | GetAppliedControl () const |
| Get the latest applied control.
|
|
std::shared_ptr< controls::ControlRequest > | GetAppliedControl () |
| Get the latest applied control.
|
|
bool | HasResetOccurred () |
|
std::function< bool()> | GetResetOccurredChecker () const |
|
bool | IsConnected (units::second_t maxLatencySeconds=500_ms) |
| Returns whether the device is still connected to the robot.
|
|
StatusSignal< double > & | GetGenericSignal (uint32_t signal, bool refresh=true) |
| This is a reserved routine for internal testing.
|
|
ctre::phoenix::StatusCode | OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_ms) |
| Optimizes the device's bus utilization by reducing the update frequencies of its status signals.
|
|
ctre::phoenix::StatusCode | ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms) |
| Resets the update frequencies of all the device's status signals to the defaults.
|
|
virtual | ~CommonTalonWithFOC ()=default |
|
virtual | ~CommonTalon ()=default |
|
virtual | ~HasTalonControls ()=default |
|
virtual | ~HasTalonSignals ()=default |
|
virtual | ~SupportsFOC ()=default |
|
virtual | ~SupportsMusic ()=default |
|