Namespace CTRE.Phoenix6.Configs

Classes

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along with filtered velocity.

This defines all configurations for the CANcoder.

CANcoderConfigurator

Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along with filtered velocity.

This handles applying and refreshing the configurations for the CANcoder.

CANdiConfiguration

Class for CTR Electronics' CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network.

This defines all configurations for the CANdi.

CANdiConfigurator

Class for CTR Electronics' CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network.

This handles applying and refreshing the configurations for the CANdi.

CANdleConfiguration

Class for CTR Electronics' CANdle® branded device, a device that controls LEDs over the CAN bus.

This defines all configurations for the CANdle.

CANdleConfigurator

Class for CTR Electronics' CANdle® branded device, a device that controls LEDs over the CAN bus.

This handles applying and refreshing the configurations for the CANdle.

CANdleFeaturesConfigs

Configs related to general CANdle features.

This includes configs such as disabling the 5V rail and the behavior of VBat output.

CANrangeConfiguration

Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device.

This defines all configurations for the CANrange.

CANrangeConfigurator

Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device.

This handles applying and refreshing the configurations for the CANrange.

ClosedLoopGeneralConfigs

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

ClosedLoopRampsConfigs

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

CommutationConfigs

Configs that determine motor selection and commutation.

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

CurrentLimitsConfigs

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

CustomBrushlessMotorConfigs

Configs related to using a custom brushless motor that is not formally supported by Talon FXS.

Configs are only used when Motor Arrangement is set to Custom Brushless Motor. Note this feature will only work device is not FRC-Locked.

Users are responsible for ensuring that these configs are accurate to the motor. CTR Electronics is not responsible for damage caused by an incorrect custom motor configuration.

CustomParamsConfigs

Custom Params.

Custom paramaters that have no real impact on controller.

DifferentialConstantsConfigs

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

Includes the differential peak outputs.

DifferentialSensorsConfigs

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

Includes the differential sensor sources and IDs.

DigitalInputsConfigs

Configs related to the CANdi™ branded device's digital I/O settings

Contains float-state settings and when to assert the S1/S2 inputs.

ExternalFeedbackConfigs

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.

ExternalTempConfigs

Configs related to using an independent thermister for automatically disabling a motor when a threshold has been reached.

Configs are only used when Motor Arrangement is set to Custom Brushless Motor or Brushed. Note this feature will only work device is not FRC-Locked.

Users are responsible for ensuring that these configs are accurate to the motor. CTR Electronics is not responsible for damage caused by an incorrect custom motor configuration.

FeedbackConfigs

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.

FovParamsConfigs

Configs that affect the ToF Field of View

Includes range and center configs

GyroTrimConfigs

Configs to trim the Pigeon2's gyroscope.

Pigeon2 allows the user to trim the gyroscope's sensitivity. While this isn't necessary for the Pigeon2, as it comes calibrated out-of-the-box, users can make use of this to make the Pigeon2 even more accurate for their application.

HardwareLimitSwitchConfigs

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

LEDConfigs

Configs related to CANdle LED control.

All the configs related to controlling LEDs with the CANdle, including LED strip type and brightness.

MagnetSensorConfigs

Configs that affect the magnet sensor and how to interpret it.

Includes sensor direction, the sensor discontinuity point, and the magnet offset.

MotionMagicConfigs

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

MotorOutputConfigs

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

MountPoseConfigs

Configs for Pigeon 2's Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that's desired and ensure the reported Yaw/Pitch/Roll is from the robot's reference.

OpenLoopRampsConfigs

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

PWM1Configs

Configs related to the CANdi™ branded device's PWM interface on the Signal 1 input (S1IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

PWM2Configs

Configs related to the CANdi™ branded device's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for the CANdi™ branded device on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.