Table of Contents

Class DifferentialSensorsConfigs

Namespace
CTRE.Phoenix6.Configs
Assembly
Phoenix6.Hardware.dll

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

Includes the differential sensor sources and IDs. 
public class DifferentialSensorsConfigs : IParentConfiguration, ISerializable, ICloneable
Inheritance
DifferentialSensorsConfigs
Implements
Inherited Members

Fields

DifferentialRemoteSensorID

Device ID of which remote sensor to use on the differential axis. This is used when the Differential Sensor Source is not Disabled or RemoteTalonFX_HalfDiff.

  • Minimum Value0
  • Maximum Value62
  • Default Value0
  • Units
public int DifferentialRemoteSensorID

Field Value

int

DifferentialSensorSource

Choose what sensor source is used for differential control of a mechanism. The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.

Choose RemoteTalonFX_HalfDiff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use half of the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.

Choose RemotePigeon2Yaw, RemotePigeon2Pitch, and RemotePigeon2Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus. 
public DifferentialSensorSourceValue DifferentialSensorSource

Field Value

DifferentialSensorSourceValue

DifferentialTalonFXSensorID

Device ID of which remote Talon FX to use. This is used whenever the Differential Sensor Source is not disabled.

The differential Talon FX must enable its Position and Velocity status signals. The update rate of the status signals determines the update rate of differential control.
  • Minimum Value0
  • Maximum Value62
  • Default Value0
  • Units
public int DifferentialTalonFXSensorID

Field Value

int

SensorToDifferentialRatio

The ratio of sensor rotations to the differential mechanism's difference output, where a ratio greater than 1 is a reduction.

When using RemoteTalonFX_HalfDiff, the sensor is considered half of the difference between the two devices' mechanism positions/velocities. As a result, this should be set to the gear ratio on the difference axis when using RemoteTalonFX_HalfDiff, or any gear ratio between the sensor and the mechanism differential when using another sensor source.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.
  • Minimum Value-1000
  • Maximum Value1000
  • Default Value1.0
  • Unitsscalar
public double SensorToDifferentialRatio

Field Value

double

Methods

Clone()

Creates a copy of this config group.

public DifferentialSensorsConfigs Clone()

Returns

DifferentialSensorsConfigs

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

WithDifferentialRemoteSensorID(int)

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

Device ID of which remote sensor to use on the differential axis. This is used when the Differential Sensor Source is not Disabled or RemoteTalonFX_HalfDiff.
  • Minimum Value0
  • Maximum Value62
  • Default Value0
  • Units
public DifferentialSensorsConfigs WithDifferentialRemoteSensorID(int newDifferentialRemoteSensorID)

Parameters

newDifferentialRemoteSensorID int

Parameter to modify

Returns

DifferentialSensorsConfigs

Itself

WithDifferentialSensorSource(DifferentialSensorSourceValue)

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

Choose what sensor source is used for differential control of a mechanism. The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.

Choose RemoteTalonFX_HalfDiff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use half of the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.

Choose RemotePigeon2Yaw, RemotePigeon2Pitch, and RemotePigeon2Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus. 
public DifferentialSensorsConfigs WithDifferentialSensorSource(DifferentialSensorSourceValue newDifferentialSensorSource)

Parameters

newDifferentialSensorSource DifferentialSensorSourceValue

Parameter to modify

Returns

DifferentialSensorsConfigs

Itself

WithDifferentialTalonFXSensorID(int)

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

Device ID of which remote Talon FX to use. This is used whenever the Differential Sensor Source is not disabled.

The differential Talon FX must enable its Position and Velocity status signals. The update rate of the status signals determines the update rate of differential control.
  • Minimum Value0
  • Maximum Value62
  • Default Value0
  • Units
public DifferentialSensorsConfigs WithDifferentialTalonFXSensorID(int newDifferentialTalonFXSensorID)

Parameters

newDifferentialTalonFXSensorID int

Parameter to modify

Returns

DifferentialSensorsConfigs

Itself

WithSensorToDifferentialRatio(double)

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

The ratio of sensor rotations to the differential mechanism's difference output, where a ratio greater than 1 is a reduction.

When using RemoteTalonFX_HalfDiff, the sensor is considered half of the difference between the two devices' mechanism positions/velocities. As a result, this should be set to the gear ratio on the difference axis when using RemoteTalonFX_HalfDiff, or any gear ratio between the sensor and the mechanism differential when using another sensor source.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.
  • Minimum Value-1000
  • Maximum Value1000
  • Default Value1.0
  • Unitsscalar
public DifferentialSensorsConfigs WithSensorToDifferentialRatio(double newSensorToDifferentialRatio)

Parameters

newSensorToDifferentialRatio double

Parameter to modify

Returns

DifferentialSensorsConfigs

Itself