Class ExternalFeedbackConfigs

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

Configs that affect the external feedback sensor of this motor controller.

Includes feedback sensor source, offsets and sensor phase for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

public class ExternalFeedbackConfigs : IParentConfiguration, ISerializable, ICloneable

Inheritance

object

ExternalFeedbackConfigs

Implements

IParentConfiguration

ISerializable

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

AbsoluteSensorDiscontinuityPoint

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

• Setting this to 1 makes the absolute position unsigned [0, 1)
• Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
• Setting this to 0 makes the absolute position always negative [-1, 0)

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

• Minimum Value0.0
• Maximum Value1.0
• Default Value0.5
• Unitsrotations

public double AbsoluteSensorDiscontinuityPoint

Field Value

double

AbsoluteSensorOffset

The offset added to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

• Minimum Value-1
• Maximum Value1
• Default Value0.0
• Unitsrotations

public double AbsoluteSensorOffset

Field Value

double

ExternalFeedbackSensorSource

Choose what sensor source is reported via API and used by closed-loop and limit features. The default is Commutation, which uses the external sensor used for motor commutation.

Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon commutation sensor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

Choose Sync* (requires Phoenix Pro) and Talon will synchronize its commutation sensor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

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

Choose Quadrature to use a quadrature encoder directly attached to the Talon data port. This provides velocity and relative position measurements.

Choose PulseWidth to use a pulse-width encoder directly attached to the Talon data port. This provides velocity and absolute position measurements.

Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor's Position signal.

public ExternalFeedbackSensorSourceValue ExternalFeedbackSensorSource

Field Value

ExternalFeedbackSensorSourceValue

FeedbackRemoteSensorID

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

• Minimum Value0
• Maximum Value62
• Default Value0
• Units

public int FeedbackRemoteSensorID

Field Value

int

QuadratureEdgesPerRotation

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

• Minimum Value1
• Maximum Value1000000
• Default Value4096
• Units

public int QuadratureEdgesPerRotation

Field Value

int

RotorToSensorRatio

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

• Minimum Value-1000
• Maximum Value1000
• Default Value1.0
• Unitsscalar

public double RotorToSensorRatio

Field Value

double

SensorPhase

The relationship between the motor controlled by a Talon and the external sensor connected to the data port. This does not affect the commutation sensor or remote sensors.

To determine the sensor phase, set this config to Aligned and drive the motor with positive output. If the reported sensor velocity is positive, then the phase is Aligned. If the reported sensor velocity is negative, then the phase is Opposed.

The sensor direction is automatically inverted along with motor invert, so the sensor phase does not need to be changed when motor invert changes.

public SensorPhaseValue SensorPhase

Field Value

SensorPhaseValue

SensorToMechanismRatio

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

This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

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 SensorToMechanismRatio

Field Value

double

VelocityFilterTimeConstant

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

• Minimum Value0
• Maximum Value1
• Default Value0
• Unitsseconds

public double VelocityFilterTimeConstant

Field Value

double

Methods

Clone()

Creates a copy of this config group.

public ExternalFeedbackConfigs Clone()

Returns

ExternalFeedbackConfigs

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

WithAbsoluteSensorDiscontinuityPoint(double)

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

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

• Setting this to 1 makes the absolute position unsigned [0, 1)
• Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
• Setting this to 0 makes the absolute position always negative [-1, 0)

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

• Minimum Value0.0
• Maximum Value1.0
• Default Value0.5
• Unitsrotations

public ExternalFeedbackConfigs WithAbsoluteSensorDiscontinuityPoint(double newAbsoluteSensorDiscontinuityPoint)

Parameters

newAbsoluteSensorDiscontinuityPoint double

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithAbsoluteSensorOffset(double)

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

The offset added to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

• Minimum Value-1
• Maximum Value1
• Default Value0.0
• Unitsrotations

public ExternalFeedbackConfigs WithAbsoluteSensorOffset(double newAbsoluteSensorOffset)

Parameters

newAbsoluteSensorOffset double

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithExternalFeedbackSensorSource(ExternalFeedbackSensorSourceValue)

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

Choose what sensor source is reported via API and used by closed-loop and limit features. The default is Commutation, which uses the external sensor used for motor commutation.

Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon commutation sensor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

Choose Sync* (requires Phoenix Pro) and Talon will synchronize its commutation sensor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

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

Choose Quadrature to use a quadrature encoder directly attached to the Talon data port. This provides velocity and relative position measurements.

Choose PulseWidth to use a pulse-width encoder directly attached to the Talon data port. This provides velocity and absolute position measurements.

Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor's Position signal.

public ExternalFeedbackConfigs WithExternalFeedbackSensorSource(ExternalFeedbackSensorSourceValue newExternalFeedbackSensorSource)

Parameters

newExternalFeedbackSensorSource ExternalFeedbackSensorSourceValue

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithFeedbackRemoteSensorID(int)

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

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

• Minimum Value0
• Maximum Value62
• Default Value0
• Units

public ExternalFeedbackConfigs WithFeedbackRemoteSensorID(int newFeedbackRemoteSensorID)

Parameters

newFeedbackRemoteSensorID int

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithFusedCANcoder(CoreCANcoder)

Helper method to configure this feedback group to use FusedCANcoder by passing in the CANcoder object.

When using FusedCANcoder (requires Phoenix Pro), the Talon will fuse another CANcoder's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth. FusedCANcoder was developed for applications such as swerve-azimuth.

public ExternalFeedbackConfigs WithFusedCANcoder(CoreCANcoder device)

Parameters

device CoreCANcoder

CANcoder reference to use for FusedCANcoder

Returns

ExternalFeedbackConfigs

Itself

WithFusedCANdiPWM1(CoreCANdi)

Helper method to configure this feedback group to use FusedCANdi PWM 1 by passing in the CANdi object.

When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

public ExternalFeedbackConfigs WithFusedCANdiPWM1(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for FusedCANdi

Returns

ExternalFeedbackConfigs

Itself

WithFusedCANdiPWM2(CoreCANdi)

Helper method to configure this feedback group to use FusedCANdi PWM 2 by passing in the CANdi object.

When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

public ExternalFeedbackConfigs WithFusedCANdiPWM2(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for FusedCANdi

Returns

ExternalFeedbackConfigs

Itself

WithFusedCANdiQuadrature(CoreCANdi)

Helper method to configure this feedback group to use FusedCANdi Quadrature by passing in the CANdi object.

When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

public ExternalFeedbackConfigs WithFusedCANdiQuadrature(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for FusedCANdi

Returns

ExternalFeedbackConfigs

Itself

WithQuadratureEdgesPerRotation(int)

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

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

• Minimum Value1
• Maximum Value1000000
• Default Value4096
• Units

public ExternalFeedbackConfigs WithQuadratureEdgesPerRotation(int newQuadratureEdgesPerRotation)

Parameters

newQuadratureEdgesPerRotation int

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithRemoteCANcoder(CoreCANcoder)

Helper method to configure this feedback group to use RemoteCANcoder by passing in the CANcoder object.

When using RemoteCANcoder, the Talon will use another CANcoder on the same CAN bus. The Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon commutation sensor will not be used.

public ExternalFeedbackConfigs WithRemoteCANcoder(CoreCANcoder device)

Parameters

device CoreCANcoder

CANcoder reference to use for RemoteCANcoder

Returns

ExternalFeedbackConfigs

Itself

WithRemoteCANdiPWM1(CoreCANdi)

Helper method to configure this feedback group to use RemoteCANdi PWM 1 by passing in the CANdi object.

When using RemoteCANdi, the Talon will use another CTR Electronics' CANdi™ on the same CAN bus. The Talon will update its position and velocity whenever the CTR Electronics' CANdi™ publishes its information on CAN bus, and the Talon commutation sensor will not be used.

public ExternalFeedbackConfigs WithRemoteCANdiPWM1(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for RemoteCANdi

Returns

ExternalFeedbackConfigs

Itself

WithRemoteCANdiPWM2(CoreCANdi)

Helper method to configure this feedback group to use RemoteCANdi PWM 2 by passing in the CANdi object.

When using RemoteCANdi, the Talon will use another CTR Electronics' CANdi™ on the same CAN bus. The Talon will update its position and velocity whenever the CTR Electronics' CANdi™ publishes its information on CAN bus, and the Talon commutation sensor will not be used.

public ExternalFeedbackConfigs WithRemoteCANdiPWM2(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for RemoteCANdi

Returns

ExternalFeedbackConfigs

Itself

WithRemoteCANdiQuadrature(CoreCANdi)

Helper method to configure this feedback group to use RemoteCANdi Quadrature by passing in the CANdi object.

When using RemoteCANdi, the Talon will use another CTR Electronics' CANdi™ on the same CAN bus. The Talon will update its position and velocity whenever the CTR Electronics' CANdi™ publishes its information on CAN bus, and the Talon commutation sensor will not be used.

public ExternalFeedbackConfigs WithRemoteCANdiQuadrature(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for RemoteCANdi

Returns

ExternalFeedbackConfigs

Itself

WithRemotePigeon2Pitch(CorePigeon2)

Helper method to configure this feedback group to use RemotePigeon2Pitch by passing in the Pigeon2 object.

When using RemotePigeon2Pitch, the Talon will use another Pigeon2 on the same CAN bus. The Talon will update its position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

public ExternalFeedbackConfigs WithRemotePigeon2Pitch(CorePigeon2 device)

Parameters

device CorePigeon2

Pigeon2 reference to use for RemotePigeon2Pitch

Returns

ExternalFeedbackConfigs

Itself

WithRemotePigeon2Roll(CorePigeon2)

Helper method to configure this feedback group to use RemotePigeon2Roll by passing in the Pigeon2 object.

When using RemotePigeon2Roll, the Talon will use another Pigeon2 on the same CAN bus. The Talon will update its position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

public ExternalFeedbackConfigs WithRemotePigeon2Roll(CorePigeon2 device)

Parameters

device CorePigeon2

Pigeon2 reference to use for RemotePigeon2Roll

Returns

ExternalFeedbackConfigs

Itself

WithRemotePigeon2Yaw(CorePigeon2)

Helper method to configure this feedback group to use RemotePigeon2Yaw by passing in the Pigeon2 object.

When using RemotePigeon2Yaw, the Talon will use another Pigeon2 on the same CAN bus. The Talon will update its position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

public ExternalFeedbackConfigs WithRemotePigeon2Yaw(CorePigeon2 device)

Parameters

device CorePigeon2

Pigeon2 reference to use for RemotePigeon2Yaw

Returns

ExternalFeedbackConfigs

Itself

WithRotorToSensorRatio(double)

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

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

• Minimum Value-1000
• Maximum Value1000
• Default Value1.0
• Unitsscalar

public ExternalFeedbackConfigs WithRotorToSensorRatio(double newRotorToSensorRatio)

Parameters

newRotorToSensorRatio double

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithSensorPhase(SensorPhaseValue)

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

The relationship between the motor controlled by a Talon and the external sensor connected to the data port. This does not affect the commutation sensor or remote sensors.

To determine the sensor phase, set this config to Aligned and drive the motor with positive output. If the reported sensor velocity is positive, then the phase is Aligned. If the reported sensor velocity is negative, then the phase is Opposed.

The sensor direction is automatically inverted along with motor invert, so the sensor phase does not need to be changed when motor invert changes.

public ExternalFeedbackConfigs WithSensorPhase(SensorPhaseValue newSensorPhase)

Parameters

newSensorPhase SensorPhaseValue

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithSensorToMechanismRatio(double)

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

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

This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

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 ExternalFeedbackConfigs WithSensorToMechanismRatio(double newSensorToMechanismRatio)

Parameters

newSensorToMechanismRatio double

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself

WithSyncCANcoder(CoreCANcoder)

Helper method to configure this feedback group to use SyncCANcoder by passing in the CANcoder object.

When using SyncCANcoder (requires Phoenix Pro), the Talon will synchronize its commutation sensor position against another CANcoder, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

public ExternalFeedbackConfigs WithSyncCANcoder(CoreCANcoder device)

Parameters

device CoreCANcoder

CANcoder reference to use for SyncCANcoder

Returns

ExternalFeedbackConfigs

Itself

WithSyncCANdiPWM1(CoreCANdi)

Helper method to configure this feedback group to use SyncCANdi PWM 1 by passing in the CANdi object.

When using SyncCANdi (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANdi™ branded device, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANdi™ branded device's position. SyncCANdi was developed for mechanisms where there is a risk of the CANdi™ branded device failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

public ExternalFeedbackConfigs WithSyncCANdiPWM1(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for SyncCANdi

Returns

ExternalFeedbackConfigs

Itself

WithSyncCANdiPWM2(CoreCANdi)

Helper method to configure this feedback group to use SyncCANdi PWM 2 by passing in the CANdi object.

When using SyncCANdi (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANdi™ branded device, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANdi™ branded device's position. SyncCANdi was developed for mechanisms where there is a risk of the CANdi™ branded device failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

public ExternalFeedbackConfigs WithSyncCANdiPWM2(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for SyncCANdi

Returns

ExternalFeedbackConfigs

Itself

WithVelocityFilterTimeConstant(double)

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

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

• Minimum Value0
• Maximum Value1
• Default Value0
• Unitsseconds

public ExternalFeedbackConfigs WithVelocityFilterTimeConstant(double newVelocityFilterTimeConstant)

Parameters

newVelocityFilterTimeConstant double

Parameter to modify

Returns

ExternalFeedbackConfigs

Itself