Manages control of a two-axis differential mechanism. More...

#include <ctre/phoenix6/mechanisms/DifferentialMechanism.hpp>

Public Types
enum class	DisabledReasonValue { None , MissingRemoteSensor , MissingDifferentialFX , RemoteSensorPosOverflow , DeviceHasReset }
	Possible reasons for the mechanism to disable. More...

enum class	RequiresUserReasonValue { None , RemoteSensorPosOverflow , DeviceHasReset }
	Possible reasons for the mechanism to require user action to resume control. More...

Public Member Functions
	DifferentialMechanism (DifferentialMotorConstants< typename MotorT::Configuration > const &constants)
	Creates a new differential mechanism using two hardware::traits::CommonTalon devices.

	DifferentialMechanism (DifferentialMotorConstants< typename MotorT::Configuration > const &constants, hardware::Pigeon2 &pigeon2, DifferentialPigeon2Source pigeonSource)
	Creates a new differential mechanism using two hardware::traits::CommonTalon devices and a hardware::Pigeon2.

	DifferentialMechanism (DifferentialMotorConstants< typename MotorT::Configuration > const &constants, hardware::CANcoder &cancoder)
	Creates a new differential mechanism using two hardware::traits::CommonTalon devices and a hardware::CANcoder.

	DifferentialMechanism (DifferentialMotorConstants< typename MotorT::Configuration > const &constants, hardware::CANdi &candi, DifferentialCANdiSource candiSource)
	Creates a new differential mechanism using two hardware::traits::CommonTalon devices and a hardware::CANdi.

ctre::phoenix::StatusCode	ConfigNeutralMode (signals::NeutralModeValue neutralMode, units::second_t timeoutSeconds=100_ms)
	Configures the neutral mode to use for both motors in the mechanism.

void	Periodic ()
	Call this method periodically to automatically protect against dangerous fault conditions and keep GetMechanismState() updated.

bool	IsDisabled () const
	Get whether the mechanism is currently disabled due to an issue.

bool	RequiresUserAction () const
	Get whether the mechanism is currently disabled and requires user action to re-enable mechanism control.

MechanismState	GetMechanismState () const
	Gets the state of the mechanism.

void	ClearUserRequirement ()
	Indicate to the mechanism that the user has performed the required action to resume mechanism control.

DisabledReasonValue	GetDisabledReason () const

RequiresUserReasonValue	GetRequiresUserReason () const

StatusSignal< units::turn_t > &	GetAveragePosition (bool refresh=true)
	Average component of the mechanism position.

StatusSignal< units::turns_per_second_t > &	GetAverageVelocity (bool refresh=true)
	Average component of the mechanism velocity.

StatusSignal< units::turn_t > &	GetDifferentialPosition (bool refresh=true)
	Differential component of the mechanism position.

StatusSignal< units::turns_per_second_t > &	GetDifferentialVelocity (bool refresh=true)
	Differential component of the mechanism velocity.

StatusSignal< double > &	GetAverageClosedLoopReference (bool refresh=true)
	Value that the average closed loop is targeting.

StatusSignal< double > &	GetAverageClosedLoopReferenceSlope (bool refresh=true)
	Derivative of the target that the average closed loop is targeting.

StatusSignal< double > &	GetAverageClosedLoopError (bool refresh=true)
	The difference between target average reference and current measurement.

StatusSignal< double > &	GetDifferentialClosedLoopReference (bool refresh=true)
	Value that the differential closed loop is targeting.

StatusSignal< double > &	GetDifferentialClosedLoopReferenceSlope (bool refresh=true)
	Derivative of the target that the differential closed loop is targeting.

StatusSignal< double > &	GetDifferentialClosedLoopError (bool refresh=true)
	The difference between target differential reference and current measurement.

ctre::phoenix::StatusCode	SetPosition (units::turn_t avgPosition, units::turn_t diffPosition=0_tr, units::time::second_t timeoutSeconds=0.100_s)
	Sets the position of the mechanism in rotations.

MotorT &	GetLeader ()
	Get the Talon FX that is differential leader.

MotorT const &	GetLeader () const
	Get the Talon FX that is differential leader.

MotorT &	GetFollower ()
	Get the Talon FX that is differential follower.

MotorT const &	GetFollower () const
	Get the Talon FX that is differential follower.

ctre::phoenix::StatusCode	SetNeutralOut ()
	Request neutral output of mechanism.

ctre::phoenix::StatusCode	SetCoastOut ()
	Request coast neutral output of mechanism.

ctre::phoenix::StatusCode	SetStaticBrake ()
	Applies full neutral-brake on the mechanism by shorting motor leads together.

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut AverageRequest, controls::DutyCycleOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle AverageRequest, controls::DutyCycleOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle AverageRequest, controls::DutyCycleOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle AverageRequest, controls::DutyCycleOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoDutyCycle AverageRequest, controls::DutyCycleOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle AverageRequest, controls::DutyCycleOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut AverageRequest, controls::VoltageOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage AverageRequest, controls::VoltageOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage AverageRequest, controls::VoltageOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage AverageRequest, controls::VoltageOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoVoltage AverageRequest, controls::VoltageOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage AverageRequest, controls::VoltageOut DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC AverageRequest, controls::TorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC AverageRequest, controls::TorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC AverageRequest, controls::TorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC AverageRequest, controls::TorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoTorqueCurrentFOC AverageRequest, controls::TorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityTorqueCurrentFOC AverageRequest, controls::TorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism.

Detailed Description

template<std::derived_from< hardware::traits::CommonTalon > MotorT>
class ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >

Manages control of a two-axis differential mechanism.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

A differential mechanism has two axes of motion, where the position along each axis is determined by two motors in separate gearboxes:

Driving both motors in a common direction causes the mechanism to move forward/reverse, up/down, etc.
- This is the Average axis: position is determined by the average of the two motors' positions.
Driving the motors in opposing directions causes the mechanism to twist or rotate left/right.
- This is the Difference axis: rotation is determined by half the difference of the two motors' positions.

Member Enumeration Documentation

◆ DisabledReasonValue

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

enum class ctre::phoenix6::mechanisms::DifferentialMechanism::DisabledReasonValue

strong

Possible reasons for the mechanism to disable.

Enumerator
None	No reason given.
MissingRemoteSensor	A remote sensor is not present on CAN Bus.
MissingDifferentialFX	The remote Talon FX used for differential control is not present on CAN Bus.
RemoteSensorPosOverflow	A remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for a remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
DeviceHasReset	A device or remote sensor has reset.

◆ RequiresUserReasonValue

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

enum class ctre::phoenix6::mechanisms::DifferentialMechanism::RequiresUserReasonValue

strong

Possible reasons for the mechanism to require user action to resume control.

Enumerator

None

No reason given.

RemoteSensorPosOverflow

A remote sensor position has overflowed.

Because of the nature of remote sensors, it is possible for a remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

DeviceHasReset

A device or remote sensor has reset.

Constructor & Destructor Documentation

◆ DifferentialMechanism() [1/4]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::DifferentialMechanism ( DifferentialMotorConstants< typename MotorT::Configuration > const & constants )

Creates a new differential mechanism using two hardware::traits::CommonTalon devices.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and half of the difference between the two Talon FX sensors on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

constants Constants used to construct the mechanism

◆ DifferentialMechanism() [2/4]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::DifferentialMechanism	(	DifferentialMotorConstants< typename MotorT::Configuration > const &	constants,
		hardware::Pigeon2 &	pigeon2,
		DifferentialPigeon2Source	pigeonSource )

Creates a new differential mechanism using two hardware::traits::CommonTalon devices and a hardware::Pigeon2.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and the selected Pigeon 2 sensor source on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

constants	Constants used to construct the mechanism
pigeon2	The Pigeon 2 to use for the differential axis
pigeonSource	The sensor source to use for the Pigeon 2 (Yaw, Pitch, or Roll)

◆ DifferentialMechanism() [3/4]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::DifferentialMechanism	(	DifferentialMotorConstants< typename MotorT::Configuration > const &	constants,
		hardware::CANcoder &	cancoder )

Creates a new differential mechanism using two hardware::traits::CommonTalon devices and a hardware::CANcoder.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and the CANcoder position/velocity on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

constants	Constants used to construct the mechanism
cancoder	The CANcoder to use for the differential axis

◆ DifferentialMechanism() [4/4]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::DifferentialMechanism	(	DifferentialMotorConstants< typename MotorT::Configuration > const &	constants,
		hardware::CANdi &	candi,
		DifferentialCANdiSource	candiSource )

Creates a new differential mechanism using two hardware::traits::CommonTalon devices and a hardware::CANdi.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and the selected CTR Electronics' CANdi™ branded sensor source on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

constants	Constants used to construct the mechanism
candi	The CTR Electronics' CANdi™ branded device to use for the differential axis
candiSource	The sensor source to use for the CTR Electronics' CANdi™ branded device

Member Function Documentation

◆ ClearUserRequirement()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

void ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::ClearUserRequirement ( )

Indicate to the mechanism that the user has performed the required action to resume mechanism control.

◆ ConfigNeutralMode()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::ConfigNeutralMode	(	signals::NeutralModeValue	neutralMode,
		units::second_t	timeoutSeconds = 100_ms )

Configures the neutral mode to use for both motors in the mechanism.

Parameters

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

Returns: Status code of the first failed config call, or OK if all succeeded

◆ GetAverageClosedLoopError()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< double > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetAverageClosedLoopError ( bool refresh = true )

inline

The difference between target average reference and current measurement.

This is the value that is treated as the error in the PID loop.

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopError Status Signal object

◆ GetAverageClosedLoopReference()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< double > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetAverageClosedLoopReference ( bool refresh = true )

inline

Value that the average closed loop is targeting.

This is the value that the closed loop PID controller targets.

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopReference Status Signal object

◆ GetAverageClosedLoopReferenceSlope()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< double > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetAverageClosedLoopReferenceSlope ( bool refresh = true )

inline

Derivative of the target that the average closed loop is targeting.

This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopReferenceSlope Status Signal object

◆ GetAveragePosition()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< units::turn_t > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetAveragePosition ( bool refresh = true )

inline

Average component of the mechanism position.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialAveragePosition Status Signal Object

◆ GetAverageVelocity()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< units::turns_per_second_t > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetAverageVelocity ( bool refresh = true )

inline

Average component of the mechanism velocity.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialAverageVelocity Status Signal Object

◆ GetDifferentialClosedLoopError()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< double > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetDifferentialClosedLoopError ( bool refresh = true )

inline

The difference between target differential reference and current measurement.

This is the value that is treated as the error in the differential PID loop (on the difference axis).

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopError Status Signal object

◆ GetDifferentialClosedLoopReference()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< double > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetDifferentialClosedLoopReference ( bool refresh = true )

inline

Value that the differential closed loop is targeting.

This is the value that the differential closed loop PID controller targets (on the difference axis).

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopReference Status Signal object

◆ GetDifferentialClosedLoopReferenceSlope()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< double > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetDifferentialClosedLoopReferenceSlope ( bool refresh = true )

inline

Derivative of the target that the differential closed loop is targeting.

This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopReferenceSlope Status Signal object

◆ GetDifferentialPosition()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< units::turn_t > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetDifferentialPosition ( bool refresh = true )

inline

Differential component of the mechanism position.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialDifferencePosition Status Signal Object

◆ GetDifferentialVelocity()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

StatusSignal< units::turns_per_second_t > & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetDifferentialVelocity ( bool refresh = true )

inline

Differential component of the mechanism velocity.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialDifferenceVelocity Status Signal Object

◆ GetDisabledReason()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

DisabledReasonValue ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetDisabledReason ( ) const

inline

Returns: The reason for the mechanism being disabled

◆ GetFollower() [1/2]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

MotorT & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetFollower ( )

inline

Get the Talon FX that is differential follower.

The differential follower's position and velocity are used by the differential leader for the differential controller.

Returns: Differential follower Talon FX

◆ GetFollower() [2/2]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

MotorT const & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetFollower ( ) const

inline

Get the Talon FX that is differential follower.

The differential follower's position and velocity are used by the differential leader for the differential controller.

Returns: Differential follower Talon FX

◆ GetLeader() [1/2]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

MotorT & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetLeader ( )

inline

Get the Talon FX that is differential leader.

The differential leader calculates the output for the differential follower. The differential leader is also used for fault detection, and it reports status signals for the differential controller.

Returns: Differential leader Talon FX

◆ GetLeader() [2/2]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

MotorT const & ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetLeader ( ) const

inline

Get the Talon FX that is differential leader.

The differential leader calculates the output for the differential follower. The differential leader is also useful for fault detection, and it reports status signals for the differential controller.

Returns: Differential leader Talon FX

◆ GetMechanismState()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

MechanismState ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetMechanismState ( ) const

inline

Gets the state of the mechanism.

Returns: MechanismState representing the state of the mechanism

◆ GetRequiresUserReason()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

RequiresUserReasonValue ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::GetRequiresUserReason ( ) const

inline

Returns: The reason for the mechanism requiring user action to resume control

◆ IsDisabled()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

bool ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::IsDisabled ( ) const

inline

Get whether the mechanism is currently disabled due to an issue.

Returns: true if the mechanism is temporarily disabled

◆ Periodic()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

void ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::Periodic ( )

Call this method periodically to automatically protect against dangerous fault conditions and keep GetMechanismState() updated.

◆ RequiresUserAction()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

bool ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::RequiresUserAction ( ) const

inline

Get whether the mechanism is currently disabled and requires user action to re-enable mechanism control.

Returns: true if the mechanism is disabled and the user must manually perform an action

◆ SetCoastOut()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetCoastOut ( )

Request coast neutral output of mechanism.

The bridge is disabled and the rotor is allowed to coast.

Returns: Status Code of the request.

◆ SetControl() [1/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::DutyCycleOut	AverageRequest,
		controls::DutyCycleOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average DutyCycleOut request of the mechanism.
DifferentialRequest	Differential DutyCycleOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [2/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::DutyCycleOut	AverageRequest,
		controls::PositionDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average DutyCycleOut request of the mechanism.
DifferentialRequest	Differential PositionDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [3/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::DutyCycleOut	AverageRequest,
		controls::VelocityDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average DutyCycleOut request of the mechanism.
DifferentialRequest	Differential VelocityDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [4/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicDutyCycle	AverageRequest,
		controls::DutyCycleOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicDutyCycle request of the mechanism.
DifferentialRequest	Differential DutyCycleOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [5/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicDutyCycle	AverageRequest,
		controls::PositionDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicDutyCycle request of the mechanism.
DifferentialRequest	Differential PositionDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [6/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicDutyCycle	AverageRequest,
		controls::VelocityDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicDutyCycle request of the mechanism.
DifferentialRequest	Differential VelocityDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [7/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoDutyCycle	AverageRequest,
		controls::DutyCycleOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoDutyCycle request of the mechanism.
DifferentialRequest	Differential DutyCycleOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [8/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoDutyCycle	AverageRequest,
		controls::PositionDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoDutyCycle request of the mechanism.
DifferentialRequest	Differential PositionDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [9/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoDutyCycle	AverageRequest,
		controls::VelocityDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoDutyCycle request of the mechanism.
DifferentialRequest	Differential VelocityDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [10/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoTorqueCurrentFOC	AverageRequest,
		controls::PositionTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [11/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoTorqueCurrentFOC	AverageRequest,
		controls::TorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential TorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [12/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoTorqueCurrentFOC	AverageRequest,
		controls::VelocityTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential VelocityTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [13/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoVoltage	AverageRequest,
		controls::PositionVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoVoltage request of the mechanism.
DifferentialRequest	Differential PositionVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [14/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoVoltage	AverageRequest,
		controls::VelocityVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoVoltage request of the mechanism.
DifferentialRequest	Differential VelocityVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [15/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicExpoVoltage	AverageRequest,
		controls::VoltageOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicExpoVoltage request of the mechanism.
DifferentialRequest	Differential VoltageOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [16/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicTorqueCurrentFOC	AverageRequest,
		controls::PositionTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [17/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicTorqueCurrentFOC	AverageRequest,
		controls::TorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential TorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [18/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicTorqueCurrentFOC	AverageRequest,
		controls::VelocityTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential VelocityTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [19/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityDutyCycle	AverageRequest,
		controls::DutyCycleOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityDutyCycle request of the mechanism.
DifferentialRequest	Differential DutyCycleOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [20/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityDutyCycle	AverageRequest,
		controls::PositionDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityDutyCycle request of the mechanism.
DifferentialRequest	Differential PositionDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [21/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityDutyCycle	AverageRequest,
		controls::VelocityDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityDutyCycle request of the mechanism.
DifferentialRequest	Differential VelocityDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [22/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityTorqueCurrentFOC	AverageRequest,
		controls::PositionTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [23/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityTorqueCurrentFOC	AverageRequest,
		controls::TorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential TorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [24/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityTorqueCurrentFOC	AverageRequest,
		controls::VelocityTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential VelocityTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [25/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityVoltage	AverageRequest,
		controls::PositionVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityVoltage request of the mechanism.
DifferentialRequest	Differential PositionVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [26/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityVoltage	AverageRequest,
		controls::VelocityVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityVoltage request of the mechanism.
DifferentialRequest	Differential VelocityVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [27/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVelocityVoltage	AverageRequest,
		controls::VoltageOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVelocityVoltage request of the mechanism.
DifferentialRequest	Differential VoltageOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [28/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVoltage	AverageRequest,
		controls::PositionVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVoltage request of the mechanism.
DifferentialRequest	Differential PositionVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [29/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVoltage	AverageRequest,
		controls::VelocityVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVoltage request of the mechanism.
DifferentialRequest	Differential VelocityVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [30/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::MotionMagicVoltage	AverageRequest,
		controls::VoltageOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average MotionMagicVoltage request of the mechanism.
DifferentialRequest	Differential VoltageOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [31/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionDutyCycle	AverageRequest,
		controls::DutyCycleOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionDutyCycle request of the mechanism.
DifferentialRequest	Differential DutyCycleOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [32/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionDutyCycle	AverageRequest,
		controls::PositionDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionDutyCycle request of the mechanism.
DifferentialRequest	Differential PositionDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [33/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionDutyCycle	AverageRequest,
		controls::VelocityDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionDutyCycle request of the mechanism.
DifferentialRequest	Differential VelocityDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [34/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionTorqueCurrentFOC	AverageRequest,
		controls::PositionTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [35/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionTorqueCurrentFOC	AverageRequest,
		controls::TorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential TorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [36/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionTorqueCurrentFOC	AverageRequest,
		controls::VelocityTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential VelocityTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [37/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionVoltage	AverageRequest,
		controls::PositionVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionVoltage request of the mechanism.
DifferentialRequest	Differential PositionVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [38/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionVoltage	AverageRequest,
		controls::VelocityVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionVoltage request of the mechanism.
DifferentialRequest	Differential VelocityVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [39/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::PositionVoltage	AverageRequest,
		controls::VoltageOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average PositionVoltage request of the mechanism.
DifferentialRequest	Differential VoltageOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [40/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::TorqueCurrentFOC	AverageRequest,
		controls::PositionTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average TorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [41/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::TorqueCurrentFOC	AverageRequest,
		controls::TorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average TorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential TorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [42/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::TorqueCurrentFOC	AverageRequest,
		controls::VelocityTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average TorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential VelocityTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [43/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityDutyCycle	AverageRequest,
		controls::DutyCycleOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityDutyCYcle request of the mechanism.
DifferentialRequest	Differential DutyCycleOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [44/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityDutyCycle	AverageRequest,
		controls::PositionDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityDutyCYcle request of the mechanism.
DifferentialRequest	Differential PositionDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [45/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityDutyCycle	AverageRequest,
		controls::VelocityDutyCycle	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityDutyCycle request of the mechanism.
DifferentialRequest	Differential VelocityDutyCycle request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [46/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityTorqueCurrentFOC	AverageRequest,
		controls::PositionTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [47/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityTorqueCurrentFOC	AverageRequest,
		controls::TorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential TorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [48/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityTorqueCurrentFOC	AverageRequest,
		controls::VelocityTorqueCurrentFOC	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityTorqueCurrentFOC request of the mechanism.
DifferentialRequest	Differential VelocityTorqueCurrentFOC request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [49/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityVoltage	AverageRequest,
		controls::PositionVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityVoltage request of the mechanism.
DifferentialRequest	Differential PositionVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [50/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityVoltage	AverageRequest,
		controls::VelocityVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityVoltage request of the mechanism.
DifferentialRequest	Differential VelocityVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [51/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VelocityVoltage	AverageRequest,
		controls::VoltageOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VelocityVoltage request of the mechanism.
DifferentialRequest	Differential VoltageOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [52/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VoltageOut	AverageRequest,
		controls::PositionVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VoltageOut request of the mechanism.
DifferentialRequest	Differential PositionVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [53/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VoltageOut	AverageRequest,
		controls::VelocityVoltage	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VoltageOut request of the mechanism.
DifferentialRequest	Differential VelocityVoltage request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetControl() [54/54]

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetControl	(	controls::VoltageOut	AverageRequest,
		controls::VoltageOut	DifferentialRequest )

Sets the control request for this mechanism.

Parameters

AverageRequest	Average VoltageOut request of the mechanism.
DifferentialRequest	Differential VoltageOut request of the mechanism. Note: The UpdateFreqHz parameter for this control request will be ignored by the control frame.

Returns: Status Code of the request.

◆ SetNeutralOut()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetNeutralOut ( )

Request neutral output of mechanism.

The applied brake type is determined by the NeutralMode configuration of each device.

Since the NeutralMode configuration of devices may not align, users may prefer to use the SetCoastOut() or SetStaticBrake() method.

Returns: Status Code of the request.

◆ SetPosition()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetPosition	(	units::turn_t	avgPosition,
		units::turn_t	diffPosition = 0_tr,
		units::time::second_t	timeoutSeconds = 0.100_s )

inline

Sets the position of the mechanism in rotations.

Parameters

avgPosition	The average position of the mechanism, in rotations
diffPosition	The differential position of the mechanism, in rotations
timeoutSeconds	Maximum time to wait up to in seconds

Returns: StatusCode of the set command

◆ SetStaticBrake()

template<std::derived_from< hardware::traits::CommonTalon > MotorT>

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism< MotorT >::SetStaticBrake ( )

Applies full neutral-brake on the mechanism by shorting motor leads together.

Returns: Status Code of the request.

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

ctre/phoenix6/mechanisms/DifferentialMechanism.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ DisabledReasonValue

◆ RequiresUserReasonValue

Constructor & Destructor Documentation

◆ DifferentialMechanism() [1/4]

◆ DifferentialMechanism() [2/4]

◆ DifferentialMechanism() [3/4]

◆ DifferentialMechanism() [4/4]

Member Function Documentation

◆ ClearUserRequirement()

◆ ConfigNeutralMode()

◆ GetAverageClosedLoopError()

◆ GetAverageClosedLoopReference()

◆ GetAverageClosedLoopReferenceSlope()

◆ GetAveragePosition()

◆ GetAverageVelocity()

◆ GetDifferentialClosedLoopError()

◆ GetDifferentialClosedLoopReference()

◆ GetDifferentialClosedLoopReferenceSlope()

◆ GetDifferentialPosition()

◆ GetDifferentialVelocity()

◆ GetDisabledReason()

◆ GetFollower() [1/2]

◆ GetFollower() [2/2]

◆ GetLeader() [1/2]

◆ GetLeader() [2/2]

◆ GetMechanismState()

◆ GetRequiresUserReason()

◆ IsDisabled()

◆ Periodic()

◆ RequiresUserAction()

◆ SetCoastOut()

◆ SetControl() [1/54]

◆ SetControl() [2/54]

◆ SetControl() [3/54]

◆ SetControl() [4/54]

◆ SetControl() [5/54]

◆ SetControl() [6/54]

◆ SetControl() [7/54]

◆ SetControl() [8/54]

◆ SetControl() [9/54]

◆ SetControl() [10/54]

◆ SetControl() [11/54]

◆ SetControl() [12/54]

◆ SetControl() [13/54]

◆ SetControl() [14/54]

◆ SetControl() [15/54]

◆ SetControl() [16/54]

◆ SetControl() [17/54]

◆ SetControl() [18/54]

◆ SetControl() [19/54]

◆ SetControl() [20/54]

◆ SetControl() [21/54]

◆ SetControl() [22/54]

◆ SetControl() [23/54]

◆ SetControl() [24/54]

◆ SetControl() [25/54]

◆ SetControl() [26/54]

◆ SetControl() [27/54]

◆ SetControl() [28/54]

◆ SetControl() [29/54]

◆ SetControl() [30/54]

◆ SetControl() [31/54]

◆ SetControl() [32/54]

◆ SetControl() [33/54]

◆ SetControl() [34/54]

◆ SetControl() [35/54]

◆ SetControl() [36/54]

◆ SetControl() [37/54]

◆ SetControl() [38/54]

◆ SetControl() [39/54]

◆ SetControl() [40/54]

◆ SetControl() [41/54]

◆ SetControl() [42/54]

◆ SetControl() [43/54]

◆ SetControl() [44/54]

◆ SetControl() [45/54]