Class CommutationConfigs

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

Configs that determine motor selection and commutation.

Set these configs to match your motor setup before commanding motor output.

public class CommutationConfigs : IParentConfiguration, ISerializable, ICloneable

Inheritance

object

CommutationConfigs

Implements

IParentConfiguration

ISerializable

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

AdvancedHallSupport

Requires Phoenix Pro; Improves commutation and velocity measurement for motors with hall sensors. Talon can use advanced features to improve commutation and velocity measurement when using a motor with hall sensors. This can improve peak efficiency by as high as 2% and reduce noise in the measured velocity.

public AdvancedHallSupportValue AdvancedHallSupport

Field Value

AdvancedHallSupportValue

BrushedMotorWiring

If a brushed motor is selected with Motor Arrangement, this config determines which of three leads to use.

public BrushedMotorWiringValue BrushedMotorWiring

Field Value

BrushedMotorWiringValue

MotorArrangement

Selects the motor and motor connections used with Talon.

This setting determines what kind of motor and sensors are used with the Talon. This also determines what signals are used on the JST and Gadgeteer port.

Motor drive will not function correctly if this setting does not match the physical setup.

public MotorArrangementValue MotorArrangement

Field Value

MotorArrangementValue

Methods

Clone()

Creates a copy of this config group.

public CommutationConfigs Clone()

Returns

CommutationConfigs

Deserialize(string)

Deserialize string and put values into this object

public StatusCode Deserialize(string to_deserialize)

Parameters

to_deserialize string

String to deserialize

Returns

StatusCode

OK if deserialization is OK

Serialize()

Serialize this object into a string

public string Serialize()

Returns

string

This object's data serialized into a string

ToString()

Provides the string representation of this object

public override string ToString()

Returns

string

WithAdvancedHallSupport(AdvancedHallSupportValue)

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

Requires Phoenix Pro; Improves commutation and velocity measurement for motors with hall sensors. Talon can use advanced features to improve commutation and velocity measurement when using a motor with hall sensors. This can improve peak efficiency by as high as 2% and reduce noise in the measured velocity.

public CommutationConfigs WithAdvancedHallSupport(AdvancedHallSupportValue newAdvancedHallSupport)

Parameters

newAdvancedHallSupport AdvancedHallSupportValue

Parameter to modify

Returns

CommutationConfigs

Itself

WithBrushedMotorWiring(BrushedMotorWiringValue)

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

If a brushed motor is selected with Motor Arrangement, this config determines which of three leads to use.

public CommutationConfigs WithBrushedMotorWiring(BrushedMotorWiringValue newBrushedMotorWiring)

Parameters

newBrushedMotorWiring BrushedMotorWiringValue

Parameter to modify

Returns

CommutationConfigs

Itself

WithMotorArrangement(MotorArrangementValue)

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

Selects the motor and motor connections used with Talon.

This setting determines what kind of motor and sensors are used with the Talon. This also determines what signals are used on the JST and Gadgeteer port.

Motor drive will not function correctly if this setting does not match the physical setup.

public CommutationConfigs WithMotorArrangement(MotorArrangementValue newMotorArrangement)

Parameters

newMotorArrangement MotorArrangementValue

Parameter to modify

Returns

CommutationConfigs

Itself