ctre::phoenix6::hardware::TalonFX Class Reference

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

#include <ctre/phoenix6/TalonFX.hpp>

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

Public Member Functions
	TalonFX (int deviceId, std::string canbus="")
	Constructs a new Talon FX motor controller object.
	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.
Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreTalonFX
	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 of firmware in device.
StatusSignal< int > &	GetFaultField (bool refresh=true) override
	Integer representing all fault flags reported by the device.
StatusSignal< int > &	GetStickyFaultField (bool refresh=true) override
	Integer representing all (persistent) sticky fault flags reported by the device.
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 second².
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 Magic® is running.
StatusSignal< signals::DeviceEnableValue > &	GetDeviceEnable (bool refresh=true) override
	Indicates if device is actuator enabled.
StatusSignal< int > &	GetClosedLoopSlot (bool refresh=true) override
	The slot that the closed-loop PID is using.
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
	The slot that the closed-loop differential PID is using.
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 Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicVoltage &request) override
	Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicTorqueCurrentFOC &request) override
	Requests Motion Magic® 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 Magic® 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 Magic® 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 Magic® to target a final velocity using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicVelocityTorqueCurrentFOC &request) override
	Requests Motion Magic® to target a final velocity using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicVelocityVoltage &request) override
	Requests Motion Magic® to target a final velocity using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicExpoDutyCycle &request) override
	Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicExpoVoltage &request) override
	Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::MotionMagicExpoTorqueCurrentFOC &request) override
	Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::DynamicMotionMagicDutyCycle &request) override
	Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::DynamicMotionMagicVoltage &request) override
	Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode	SetControl (const controls::DynamicMotionMagicTorqueCurrentFOC &request) override
	Requests Motion Magic® 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 Magic® 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 Magic® 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 Magic® 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 Magic® 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 Magic® 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 Magic® 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.
Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	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.
Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonTalonWithFOC
virtual	~CommonTalonWithFOC ()=default
Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonTalon
virtual	~CommonTalon ()=default
Public Member Functions inherited from ctre::phoenix6::hardware::traits::HasTalonControls
virtual	~HasTalonControls ()=default
Public Member Functions inherited from ctre::phoenix6::hardware::traits::HasTalonSignals
virtual	~HasTalonSignals ()=default
Public Member Functions inherited from ctre::phoenix6::hardware::traits::SupportsFOC
virtual	~SupportsFOC ()=default
Public Member Functions inherited from ctre::phoenix6::hardware::traits::SupportsMusic
virtual	~SupportsMusic ()=default

Static Public Attributes
static constexpr auto	kDefaultSafetyExpiration = 100_ms
	The default motor safety timeout IF calling application enables the feature.

Protected Member Functions
ctre::phoenix::StatusCode	SetControlPrivate (const controls::ControlRequest &request) override
Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)
template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::function< std::map< uint16_t, std::string >()> mapFiller, std::string signalName, bool reportOnConstruction, bool refresh)
template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh)
	Returns a unitless version of the StatusSignal by value.

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::vector< ParentDevice * > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.
template<size_t N>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::array< ParentDevice *, N > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.
Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier
Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static controls::EmptyControl	_emptyControl {}
template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are subclasses of ParentDevice.

Detailed Description

Class description for the Talon FX integrated motor controller.

Constructor & Destructor Documentation

TalonFX() [1/2]

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

Constructs a new Talon FX motor controller object.

Parameters

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

TalonFX() [2/2]

ctre::phoenix6::hardware::TalonFX::TalonFX ( int deviceId, CANBus canbus )

inline

Constructs a new Talon FX motor controller object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	The CAN bus this device is on.

~TalonFX()

ctre::phoenix6::hardware::TalonFX::~TalonFX

(

)

Member Function Documentation

Disable()

void ctre::phoenix6::hardware::TalonFX::Disable

(

)

Common interface for disabling a motor controller.

Feed()

void ctre::phoenix6::hardware::TalonFX::Feed

(

)

Feed the motor safety object.

Resets the timer on this object that is used to do the timeouts.

Get()

double ctre::phoenix6::hardware::TalonFX::Get

(

)

const

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

Returns

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

GetDescription()

std::string ctre::phoenix6::hardware::TalonFX::GetDescription

(

)

const

Returns

Description of motor controller

GetExpiration()

units::second_t ctre::phoenix6::hardware::TalonFX::GetExpiration

(

)

const

Retrieve the timeout value for the corresponding motor safety object.

Returns

the timeout value.

GetInverted()

bool ctre::phoenix6::hardware::TalonFX::GetInverted

(

)

const

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

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

Deprecated

This API is deprecated for removal in 2026. Since invert is a config, read the invert setting as part of a full configs::TalonFXConfiguration object or using a configs::MotorOutputConfigs object. Applied invert, which may not match the invert config for followers, can also be fetched using GetAppliedRotorPolarity.

Returns

The state of the inversion, true is inverted.

InitSendable()

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

override

IsAlive()

bool ctre::phoenix6::hardware::TalonFX::IsAlive

(

)

const

Determine of the motor is still operating or has timed out.

Returns

true if the motor is still operating normally and hasn't timed out.

IsSafetyEnabled()

bool ctre::phoenix6::hardware::TalonFX::IsSafetyEnabled

(

)

const

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns

True if motor safety is enforced for this device

Set()

void ctre::phoenix6::hardware::TalonFX::Set

(

double

speed

)

Common interface for setting the speed of a motor controller.

Parameters

speed

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

SetControlPrivate()

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

overrideprotectedvirtual

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

SetExpiration()

void ctre::phoenix6::hardware::TalonFX::SetExpiration

(

units::second_t

expirationTime

)

Set the expiration time for the corresponding motor safety object.

Parameters

expirationTime

The timeout value.

SetInverted()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::TalonFX::SetInverted

(

bool

isInverted

)

Common interface for inverting direction of a motor controller.

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

Since invert affects the reported motor position, this API should be called before any calls to SetPosition.

Deprecated

This API is deprecated for removal in 2026. Since invert is a config, apply the invert setting as part of a full configs::TalonFXConfiguration object. Invert can be found in the MotorOutput config group.

Parameters

isInverted

The state of inversion, true is inverted.

Returns

Status of refreshing and applying the invert config

SetNeutralMode()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::TalonFX::SetNeutralMode	(	signals::NeutralModeValue	neutralMode,
		units::second_t	timeoutSeconds = 100_ms )

Sets the mode of operation when output is neutral or disabled.

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

Parameters

neutralMode	The state of the motor controller bridge when output is neutral or disabled
timeoutSeconds	Maximum amount of time to wait when performing configuration

Returns

Status of refreshing and applying the neutral mode config

SetSafetyEnabled()

void ctre::phoenix6::hardware::TalonFX::SetSafetyEnabled

(

bool

enabled

)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this object.

Parameters

enabled

True if motor safety is enforced for this object.

SetVoltage()

void ctre::phoenix6::hardware::TalonFX::SetVoltage

(

units::volt_t

volts

)

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

Parameters

volts

The voltage to output.

StopMotor()

void ctre::phoenix6::hardware::TalonFX::StopMotor

(

)

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

Member Data Documentation

kDefaultSafetyExpiration

constexpr auto ctre::phoenix6::hardware::TalonFX::kDefaultSafetyExpiration = 100_ms

staticconstexpr

The default motor safety timeout IF calling application enables the feature.

---

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

• ctre/phoenix6/TalonFX.hpp