Table of Contents

Class FeedbackConfigs

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

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping. 
public class FeedbackConfigs : IParentConfiguration, ISerializable, ICloneable
Inheritance
FeedbackConfigs
Implements
Inherited Members

Fields

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

FeedbackRotorOffset

The offset added to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

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

Field Value

double

FeedbackSensorSource

Choose what sensor source is reported via API and used by closed-loop and limit features. The default is RotorSensor, which uses the internal rotor sensor in the Talon.

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 internal rotor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor's information with the internal rotor, 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 internal rotor 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.

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 FeedbackSensorSourceValue FeedbackSensorSource

Field Value

FeedbackSensorSourceValue

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

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 FeedbackConfigs Clone()

Returns

FeedbackConfigs

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

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 FeedbackConfigs WithFeedbackRemoteSensorID(int newFeedbackRemoteSensorID)

Parameters

newFeedbackRemoteSensorID int

Parameter to modify

Returns

FeedbackConfigs

Itself

WithFeedbackRotorOffset(double)

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

The offset added to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.
  • Minimum Value-1
  • Maximum Value1
  • Default Value0.0
  • Unitsrotations
public FeedbackConfigs WithFeedbackRotorOffset(double newFeedbackRotorOffset)

Parameters

newFeedbackRotorOffset double

Parameter to modify

Returns

FeedbackConfigs

Itself

WithFeedbackSensorSource(FeedbackSensorSourceValue)

Modifies this configuration's FeedbackSensorSource 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 RotorSensor, which uses the internal rotor sensor in the Talon.

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 internal rotor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor's information with the internal rotor, 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 internal rotor 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.

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 FeedbackConfigs WithFeedbackSensorSource(FeedbackSensorSourceValue newFeedbackSensorSource)

Parameters

newFeedbackSensorSource FeedbackSensorSourceValue

Parameter to modify

Returns

FeedbackConfigs

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 internal rotor, which provides the best possible position and velocity for accuracy and bandwidth. FusedCANcoder was developed for applications such as swerve-azimuth. 
public FeedbackConfigs WithFusedCANcoder(CoreCANcoder device)

Parameters

device CoreCANcoder

CANcoder reference to use for FusedCANcoder

Returns

FeedbackConfigs

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 FeedbackConfigs WithFusedCANdiPWM1(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for FusedCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithFusedCANdiPWM2(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for FusedCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithFusedCANdiQuadrature(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for FusedCANdi

Returns

FeedbackConfigs

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 internal rotor will not be used. 
public FeedbackConfigs WithRemoteCANcoder(CoreCANcoder device)

Parameters

device CoreCANcoder

CANcoder reference to use for RemoteCANcoder

Returns

FeedbackConfigs

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 FeedbackConfigs WithRemoteCANdiPWM1(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for RemoteCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithRemoteCANdiPWM2(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for RemoteCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithRemoteCANdiQuadrature(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for RemoteCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithRemotePigeon2Pitch(CorePigeon2 device)

Parameters

device CorePigeon2

Pigeon2 reference to use for RemotePigeon2Pitch

Returns

FeedbackConfigs

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 FeedbackConfigs WithRemotePigeon2Roll(CorePigeon2 device)

Parameters

device CorePigeon2

Pigeon2 reference to use for RemotePigeon2Roll

Returns

FeedbackConfigs

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 FeedbackConfigs WithRemotePigeon2Yaw(CorePigeon2 device)

Parameters

device CorePigeon2

Pigeon2 reference to use for RemotePigeon2Yaw

Returns

FeedbackConfigs

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 FeedbackConfigs WithRotorToSensorRatio(double newRotorToSensorRatio)

Parameters

newRotorToSensorRatio double

Parameter to modify

Returns

FeedbackConfigs

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 FeedbackConfigs WithSensorToMechanismRatio(double newSensorToMechanismRatio)

Parameters

newSensorToMechanismRatio double

Parameter to modify

Returns

FeedbackConfigs

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 internal rotor 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 FeedbackConfigs WithSyncCANcoder(CoreCANcoder device)

Parameters

device CoreCANcoder

CANcoder reference to use for SyncCANcoder

Returns

FeedbackConfigs

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 FeedbackConfigs WithSyncCANdiPWM1(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for SyncCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithSyncCANdiPWM2(CoreCANdi device)

Parameters

device CoreCANdi

CANdi reference to use for SyncCANdi

Returns

FeedbackConfigs

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 FeedbackConfigs WithVelocityFilterTimeConstant(double newVelocityFilterTimeConstant)

Parameters

newVelocityFilterTimeConstant double

Parameter to modify

Returns

FeedbackConfigs

Itself