Class CoreTalonFX

Namespace

CTRE.Phoenix6.Hardware.Core

Assembly

Phoenix6.Hardware.dll

Class description for the Talon FX integrated motor controller.

public class CoreTalonFX : ParentDevice, CommonTalonWithFOC, CommonTalon, HasTalonControls, HasTalonSignals, SupportsFOC, SupportsMusic, CommonDevice

Inheritance

object

ParentDevice

CoreTalonFX

Implements

CommonTalonWithFOC

CommonTalon

HasTalonControls

HasTalonSignals

SupportsFOC

SupportsMusic

CommonDevice

Derived

TalonFX

Inherited Members

ParentDevice.deviceIdentifier

ParentDevice.DeviceID

ParentDevice.Network

ParentDevice.DeviceHash

ParentDevice.AppliedControl

ParentDevice.HasResetOccurred

ParentDevice.GetResetOccurredChecker()

ParentDevice.IsConnected(double)

ParentDevice.OptimizeBusUtilization(double, double)

ParentDevice.OptimizeBusUtilizationForAll(params IEnumerable<CommonDevice>)

ParentDevice.OptimizeBusUtilizationForAll(double, params IEnumerable<CommonDevice>)

ParentDevice.ResetSignalFrequencies(double)

ParentDevice.ResetSignalFrequenciesForAll(params IEnumerable<CommonDevice>)

ParentDevice.SetControlPrivate(ControlRequest)

ParentDevice.LookupStatusSignal<T>(ushort, string, bool, bool)

ParentDevice.LookupStatusSignal<T>(ushort, string, Func<Dictionary<ushort, string>>, bool, bool)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

CoreTalonFX(int)

Constructs a new Talon FX motor controller object.

Constructs the device using the default CAN bus for the system (see CANBus(string)).

public CoreTalonFX(int deviceId)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

CoreTalonFX(int, CANBus)

Constructs a new Talon FX motor controller object.

public CoreTalonFX(int deviceId, CANBus canbus)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

canbus CANBus

The CAN bus this device is on

CoreTalonFX(int, string)

Constructs a new Talon FX motor controller object.

[Obsolete("Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.")]
public CoreTalonFX(int deviceId, string canbus)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

canbus string

Name of the CAN bus. Possible CAN bus strings are:

• CANivore name or serial number
• SocketCAN interface (non-FRC Linux only)
• "" for any CANivore seen by the program
• empty string (default) to select the default for the system:
  • "can0" on Linux
  • "" on Windows

Properties

Configurator

The configurator for this device. Users may use this to refresh and apply configs, such as the TalonFXConfiguration object

public TalonFXConfigurator Configurator { get; }

Property Value

TalonFXConfigurator

SimState

Gets the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

public TalonFXSimState SimState { get; }

Property Value

TalonFXSimState

Methods

ClearStickyFault_BootDuringEnable(double)

Clear sticky fault: Device boot while detecting the enable signal

public StatusCode ClearStickyFault_BootDuringEnable(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BridgeBrownout(double)

Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

public StatusCode ClearStickyFault_BridgeBrownout(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_DeviceTemp(double)

Clear sticky fault: Device temperature exceeded limit

public StatusCode ClearStickyFault_DeviceTemp(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ForwardHardLimit(double)

Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.

public StatusCode ClearStickyFault_ForwardHardLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ForwardSoftLimit(double)

Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.

public StatusCode ClearStickyFault_ForwardSoftLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_FusedSensorOutOfSync(double)

Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

public StatusCode ClearStickyFault_FusedSensorOutOfSync(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Hardware(double)

Clear sticky fault: Hardware fault occurred

public StatusCode ClearStickyFault_Hardware(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MissingDifferentialFX(double)

Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

public StatusCode ClearStickyFault_MissingDifferentialFX(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MissingHardLimitRemote(double)

Clear sticky fault: The remote limit switch device is not present on CAN Bus.

public StatusCode ClearStickyFault_MissingHardLimitRemote(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MissingSoftLimitRemote(double)

Clear sticky fault: The remote soft limit device is not present on CAN Bus.

public StatusCode ClearStickyFault_MissingSoftLimitRemote(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_OverSupplyV(double)

Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

public StatusCode ClearStickyFault_OverSupplyV(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ProcTemp(double)

Clear sticky fault: Processor temperature exceeded limit

public StatusCode ClearStickyFault_ProcTemp(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_RemoteSensorDataInvalid(double)

Clear sticky fault: The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

public StatusCode ClearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_RemoteSensorPosOverflow(double)

Clear sticky fault: The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

public StatusCode ClearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_RemoteSensorReset(double)

Clear sticky fault: The remote sensor has reset.

public StatusCode ClearStickyFault_RemoteSensorReset(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ReverseHardLimit(double)

Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.

public StatusCode ClearStickyFault_ReverseHardLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ReverseSoftLimit(double)

Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.

public StatusCode ClearStickyFault_ReverseSoftLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_StaticBrakeDisabled(double)

Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

public StatusCode ClearStickyFault_StaticBrakeDisabled(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_StatorCurrLimit(double)

Clear sticky fault: Stator current limit occured.

public StatusCode ClearStickyFault_StatorCurrLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_SupplyCurrLimit(double)

Clear sticky fault: Supply current limit occured.

public StatusCode ClearStickyFault_SupplyCurrLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Undervoltage(double)

Clear sticky fault: Device supply voltage dropped to near brownout levels

public StatusCode ClearStickyFault_Undervoltage(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnlicensedFeatureInUse(double)

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

public StatusCode ClearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnstableSupplyV(double)

Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

public StatusCode ClearStickyFault_UnstableSupplyV(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UsingFusedCANcoderWhileUnlicensed(double)

Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

public StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFaults(double)

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

public StatusCode ClearStickyFaults(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

GetAcceleration(bool)

Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

• Minimum Value-2048.0
• Maximum Value2047.75
• Default Value0
• Unitsrotations per second²

Default Rates:

• CAN 2.050.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetAcceleration(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Acceleration Status Signal Object

GetAncillaryDeviceTemp(bool)

Temperature of device from second sensor.

Newer versions of Talon have multiple temperature measurement methods.

• Minimum Value0.0
• Maximum Value255.0
• Default Value0
• Units℃

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetAncillaryDeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AncillaryDeviceTemp Status Signal Object

GetAppliedRotorPolarity(bool)

The applied rotor polarity as seen from the front of the motor. This typically is determined by the Inverted config, but can be overridden if using Follower features.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<AppliedRotorPolarityValue> GetAppliedRotorPolarity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<AppliedRotorPolarityValue>

AppliedRotorPolarity Status Signal Object

GetBridgeOutput(bool)

The applied output of the bridge.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<BridgeOutputValue> GetBridgeOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<BridgeOutputValue>

BridgeOutput Status Signal Object

GetClosedLoopDerivativeOutput(bool)

Closed loop derivative component.

The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopDerivativeOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopDerivativeOutput Status Signal object

GetClosedLoopError(bool)

The difference between target reference and current measurement.

This is the value that is treated as the error in the PID loop.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopError(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopError Status Signal object

GetClosedLoopFeedForward(bool)

Feedforward passed by the user.

This is the general feedforward that the user provides for the closed loop.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopFeedForward(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopFeedForward Status Signal object

GetClosedLoopIntegratedOutput(bool)

Closed loop integrated component.

The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopIntegratedOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopIntegratedOutput Status Signal object

GetClosedLoopOutput(bool)

Closed loop total output.

The total output of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopOutput Status Signal object

GetClosedLoopProportionalOutput(bool)

Closed loop proportional component.

The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopProportionalOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopProportionalOutput Status Signal object

GetClosedLoopReference(bool)

Value that the closed loop is targeting.

This is the value that the closed loop PID controller targets.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopReference(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopReference Status Signal object

GetClosedLoopReferenceSlope(bool)

Derivative of the target that the closed loop is targeting.

This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

When using differential control, this applies to the average axis.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetClosedLoopReferenceSlope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopReferenceSlope Status Signal object

GetClosedLoopSlot(bool)

The slot that the closed-loop PID is using.

• Minimum Value0
• Maximum Value2
• Default Value0
• Units

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetClosedLoopSlot(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

ClosedLoopSlot Status Signal Object

GetConnectedMotor(bool)

The type of motor attached to the Talon.

This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<ConnectedMotorValue> GetConnectedMotor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ConnectedMotorValue>

ConnectedMotor Status Signal Object

GetControlMode(bool)

The active control mode of the motor controller.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<ControlModeValue> GetControlMode(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ControlModeValue>

ControlMode Status Signal Object

GetDeviceEnable(bool)

Indicates if device is actuator enabled.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<DeviceEnableValue> GetDeviceEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<DeviceEnableValue>

DeviceEnable Status Signal Object

GetDeviceTemp(bool)

Temperature of device.

This is the temperature that the device measures itself to be at. Similar to Processor Temperature.

• Minimum Value0.0
• Maximum Value255.0
• Default Value0
• Units℃

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DeviceTemp Status Signal Object

GetDifferentialAveragePosition(bool)

Average component of the differential position of device.

• Minimum Value-16384.0
• Maximum Value16383.999755859375
• Default Value0
• Unitsrotations

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialAveragePosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialAveragePosition Status Signal Object

GetDifferentialAverageVelocity(bool)

Average component of the differential velocity of device.

• Minimum Value-512.0
• Maximum Value511.998046875
• Default Value0
• Unitsrotations per second

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialAverageVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialAverageVelocity Status Signal Object

GetDifferentialClosedLoopDerivativeOutput(bool)

Differential closed loop derivative component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopDerivativeOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopDerivativeOutput Status Signal object

GetDifferentialClosedLoopError(bool)

The difference between target differential reference and current measurement.

This is the value that is treated as the error in the differential PID loop (on the difference axis).

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopError(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopError Status Signal object

GetDifferentialClosedLoopFeedForward(bool)

Differential Feedforward passed by the user.

This is the general feedforward that the user provides for the differential closed loop (on the difference axis).

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopFeedForward(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopFeedForward Status Signal object

GetDifferentialClosedLoopIntegratedOutput(bool)

Differential closed loop integrated component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopIntegratedOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopIntegratedOutput Status Signal object

GetDifferentialClosedLoopOutput(bool)

Differential closed loop total output.

The total output of the differential closed loop output (on the difference axis).

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopOutput Status Signal object

GetDifferentialClosedLoopProportionalOutput(bool)

Differential closed loop proportional component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopProportionalOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopProportionalOutput Status Signal object

GetDifferentialClosedLoopReference(bool)

Value that the differential closed loop is targeting.

This is the value that the differential closed loop PID controller targets (on the difference axis).

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopReference(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopReference Status Signal object

GetDifferentialClosedLoopReferenceSlope(bool)

Derivative of the target that the differential closed loop is targeting.

This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialClosedLoopReferenceSlope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopReferenceSlope Status Signal object

GetDifferentialClosedLoopSlot(bool)

The slot that the closed-loop differential PID is using.

• Minimum Value0
• Maximum Value2
• Default Value0
• Units

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetDifferentialClosedLoopSlot(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

DifferentialClosedLoopSlot Status Signal Object

GetDifferentialControlMode(bool)

The active control mode of the differential controller.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<DifferentialControlModeValue> GetDifferentialControlMode(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<DifferentialControlModeValue>

DifferentialControlMode Status Signal Object

GetDifferentialDifferencePosition(bool)

Difference component of the differential position of device.

• Minimum Value-16384.0
• Maximum Value16383.999755859375
• Default Value0
• Unitsrotations

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialDifferencePosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialDifferencePosition Status Signal Object

GetDifferentialDifferenceVelocity(bool)

Difference component of the differential velocity of device.

• Minimum Value-512.0
• Maximum Value511.998046875
• Default Value0
• Unitsrotations per second

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialDifferenceVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialDifferenceVelocity Status Signal Object

GetDifferentialOutput(bool)

The calculated motor output for differential followers.

This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDifferentialOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialOutput Status Signal object

GetDutyCycle(bool)

The applied motor duty cycle.

• Minimum Value-2.0
• Maximum Value1.9990234375
• Default Value0
• Unitsfractional

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetDutyCycle(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DutyCycle Status Signal Object

GetFaultField(bool)

Integer representing all fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

• Minimum Value0
• Maximum Value4294967295
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

FaultField Status Signal Object

GetFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootDuringEnable Status Signal Object

GetFault_BridgeBrownout(bool)

Bridge was disabled most likely due to supply voltage dropping too low.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_BridgeBrownout(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BridgeBrownout Status Signal Object

GetFault_DeviceTemp(bool)

Device temperature exceeded limit

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_DeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_DeviceTemp Status Signal Object

GetFault_ForwardHardLimit(bool)

Forward limit switch has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_ForwardHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ForwardHardLimit Status Signal Object

GetFault_ForwardSoftLimit(bool)

Forward soft limit has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_ForwardSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ForwardSoftLimit Status Signal Object

GetFault_FusedSensorOutOfSync(bool)

The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_FusedSensorOutOfSync(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_FusedSensorOutOfSync Status Signal Object

GetFault_Hardware(bool)

Hardware fault occurred

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Hardware Status Signal Object

GetFault_MissingDifferentialFX(bool)

The remote Talon used for differential control is not present on CAN Bus.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_MissingDifferentialFX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_MissingDifferentialFX Status Signal Object

GetFault_MissingHardLimitRemote(bool)

The remote limit switch device is not present on CAN Bus.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_MissingHardLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_MissingHardLimitRemote Status Signal Object

GetFault_MissingSoftLimitRemote(bool)

The remote soft limit device is not present on CAN Bus.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_MissingSoftLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_MissingSoftLimitRemote Status Signal Object

GetFault_OverSupplyV(bool)

Supply Voltage has exceeded the maximum voltage rating of device.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_OverSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_OverSupplyV Status Signal Object

GetFault_ProcTemp(bool)

Processor temperature exceeded limit

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_ProcTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ProcTemp Status Signal Object

GetFault_RemoteSensorDataInvalid(bool)

The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_RemoteSensorDataInvalid(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_RemoteSensorDataInvalid Status Signal Object

GetFault_RemoteSensorPosOverflow(bool)

The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_RemoteSensorPosOverflow(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_RemoteSensorPosOverflow Status Signal Object

GetFault_RemoteSensorReset(bool)

The remote sensor has reset.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_RemoteSensorReset(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_RemoteSensorReset Status Signal Object

GetFault_ReverseHardLimit(bool)

Reverse limit switch has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_ReverseHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ReverseHardLimit Status Signal Object

GetFault_ReverseSoftLimit(bool)

Reverse soft limit has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_ReverseSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ReverseSoftLimit Status Signal Object

GetFault_StaticBrakeDisabled(bool)

Static brake was momentarily disabled due to excessive braking current while disabled.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_StaticBrakeDisabled(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_StaticBrakeDisabled Status Signal Object

GetFault_StatorCurrLimit(bool)

Stator current limit occured.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_StatorCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_StatorCurrLimit Status Signal Object

GetFault_SupplyCurrLimit(bool)

Supply current limit occured.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_SupplyCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_SupplyCurrLimit Status Signal Object

GetFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Undervoltage Status Signal Object

GetFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UnlicensedFeatureInUse Status Signal Object

GetFault_UnstableSupplyV(bool)

Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_UnstableSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UnstableSupplyV Status Signal Object

GetFault_UsingFusedCANcoderWhileUnlicensed(bool)

Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetFault_UsingFusedCANcoderWhileUnlicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

GetForwardLimit(bool)

Forward Limit Pin.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<ForwardLimitValue> GetForwardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ForwardLimitValue>

ForwardLimit Status Signal Object

GetIsProLicensed(bool)

Whether the device is Phoenix Pro licensed.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetIsProLicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

IsProLicensed Status Signal Object

GetMotionMagicAtTarget(bool)

Check if the Motion Magic® profile has reached the target. This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0.

• Default ValueFalse

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetMotionMagicAtTarget(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

MotionMagicAtTarget Status Signal Object

GetMotionMagicIsRunning(bool)

Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode.

• Default ValueFalse

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetMotionMagicIsRunning(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

MotionMagicIsRunning Status Signal Object

GetMotorKT(bool)

The torque constant (K_T) of the motor.

• Minimum Value0.0
• Maximum Value0.025500000000000002
• Default Value0
• UnitsNm/A

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetMotorKT(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorKT Status Signal Object

GetMotorKV(bool)

The velocity constant (K_V) of the motor.

• Minimum Value0.0
• Maximum Value2047.0
• Default Value0
• UnitsRPM/V

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetMotorKV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorKV Status Signal Object

GetMotorOutputStatus(bool)

Assess the status of the motor output with respect to load and supply.

This routine can be used to determine the general status of motor commutation.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<MotorOutputStatusValue> GetMotorOutputStatus(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<MotorOutputStatusValue>

MotorOutputStatus Status Signal Object

GetMotorStallCurrent(bool)

The stall current of the motor at 12 V output.

• Minimum Value0.0
• Maximum Value1023.0
• Default Value0
• UnitsA

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetMotorStallCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorStallCurrent Status Signal Object

GetMotorVoltage(bool)

The applied (output) motor voltage.

• Minimum Value-40.96
• Maximum Value40.95
• Default Value0
• UnitsV

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetMotorVoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorVoltage Status Signal Object

GetPosition(bool)

Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition.

• Minimum Value-16384.0
• Maximum Value16383.999755859375
• Default Value0
• Unitsrotations

Default Rates:

• CAN 2.050.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetPosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Position Status Signal Object

GetProcessorTemp(bool)

Temperature of the processor.

This is the temperature that the processor measures itself to be at. Similar to Device Temperature.

• Minimum Value0.0
• Maximum Value255.0
• Default Value0
• Units℃

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetProcessorTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ProcessorTemp Status Signal Object

GetReverseLimit(bool)

Reverse Limit Pin.

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<ReverseLimitValue> GetReverseLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ReverseLimitValue>

ReverseLimit Status Signal Object

GetRobotEnable(bool)

Indicates if the robot is enabled.

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<RobotEnableValue> GetRobotEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<RobotEnableValue>

RobotEnable Status Signal Object

GetRotorPosition(bool)

Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.

• Minimum Value-16384.0
• Maximum Value16383.999755859375
• Default Value0
• Unitsrotations

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetRotorPosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RotorPosition Status Signal Object

GetRotorVelocity(bool)

Velocity of the motor rotor. This velocity is not affected by any feedback configs.

• Minimum Value-512.0
• Maximum Value511.998046875
• Default Value0
• Unitsrotations per second

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetRotorVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RotorVelocity Status Signal Object

GetStatorCurrent(bool)

Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.

Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.

• Minimum Value-327.68
• Maximum Value327.66
• Default Value0
• UnitsA

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetStatorCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

StatorCurrent Status Signal Object

GetStickyFaultField(bool)

Integer representing all (persistent) sticky fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

• Minimum Value0
• Maximum Value4294967295
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetStickyFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

StickyFaultField Status Signal Object

GetStickyFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootDuringEnable Status Signal Object

GetStickyFault_BridgeBrownout(bool)

Bridge was disabled most likely due to supply voltage dropping too low.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_BridgeBrownout(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BridgeBrownout Status Signal Object

GetStickyFault_DeviceTemp(bool)

Device temperature exceeded limit

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_DeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_DeviceTemp Status Signal Object

GetStickyFault_ForwardHardLimit(bool)

Forward limit switch has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_ForwardHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ForwardHardLimit Status Signal Object

GetStickyFault_ForwardSoftLimit(bool)

Forward soft limit has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_ForwardSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ForwardSoftLimit Status Signal Object

GetStickyFault_FusedSensorOutOfSync(bool)

The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_FusedSensorOutOfSync(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_FusedSensorOutOfSync Status Signal Object

GetStickyFault_Hardware(bool)

Hardware fault occurred

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Hardware Status Signal Object

GetStickyFault_MissingDifferentialFX(bool)

The remote Talon used for differential control is not present on CAN Bus.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_MissingDifferentialFX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_MissingDifferentialFX Status Signal Object

GetStickyFault_MissingHardLimitRemote(bool)

The remote limit switch device is not present on CAN Bus.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_MissingHardLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_MissingHardLimitRemote Status Signal Object

GetStickyFault_MissingSoftLimitRemote(bool)

The remote soft limit device is not present on CAN Bus.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_MissingSoftLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_MissingSoftLimitRemote Status Signal Object

GetStickyFault_OverSupplyV(bool)

Supply Voltage has exceeded the maximum voltage rating of device.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_OverSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_OverSupplyV Status Signal Object

GetStickyFault_ProcTemp(bool)

Processor temperature exceeded limit

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_ProcTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ProcTemp Status Signal Object

GetStickyFault_RemoteSensorDataInvalid(bool)

The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_RemoteSensorDataInvalid(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_RemoteSensorDataInvalid Status Signal Object

GetStickyFault_RemoteSensorPosOverflow(bool)

The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_RemoteSensorPosOverflow(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_RemoteSensorPosOverflow Status Signal Object

GetStickyFault_RemoteSensorReset(bool)

The remote sensor has reset.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_RemoteSensorReset(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_RemoteSensorReset Status Signal Object

GetStickyFault_ReverseHardLimit(bool)

Reverse limit switch has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_ReverseHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ReverseHardLimit Status Signal Object

GetStickyFault_ReverseSoftLimit(bool)

Reverse soft limit has been asserted. Output is set to neutral.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_ReverseSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ReverseSoftLimit Status Signal Object

GetStickyFault_StaticBrakeDisabled(bool)

Static brake was momentarily disabled due to excessive braking current while disabled.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_StaticBrakeDisabled(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_StaticBrakeDisabled Status Signal Object

GetStickyFault_StatorCurrLimit(bool)

Stator current limit occured.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_StatorCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_StatorCurrLimit Status Signal Object

GetStickyFault_SupplyCurrLimit(bool)

Supply current limit occured.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_SupplyCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_SupplyCurrLimit Status Signal Object

GetStickyFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Undervoltage Status Signal Object

GetStickyFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UnlicensedFeatureInUse Status Signal Object

GetStickyFault_UnstableSupplyV(bool)

Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_UnstableSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UnstableSupplyV Status Signal Object

GetStickyFault_UsingFusedCANcoderWhileUnlicensed(bool)

Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

• Default ValueFalse

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<bool> GetStickyFault_UsingFusedCANcoderWhileUnlicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

GetSupplyCurrent(bool)

Measured supply side current.

• Minimum Value-327.68
• Maximum Value327.66
• Default Value0
• UnitsA

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetSupplyCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

SupplyCurrent Status Signal Object

GetSupplyVoltage(bool)

Measured supply voltage to the device.

• Minimum Value4
• Maximum Value29.575
• Default Value4
• UnitsV

Default Rates:

• CAN 2.04.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetSupplyVoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

SupplyVoltage Status Signal Object

GetTorqueCurrent(bool)

Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.

Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting.

• Minimum Value-327.68
• Maximum Value327.67
• Default Value0
• UnitsA

Default Rates:

• CAN 2.0100.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetTorqueCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

TorqueCurrent Status Signal Object

GetVelocity(bool)

Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

• Minimum Value-512.0
• Maximum Value511.998046875
• Default Value0
• Unitsrotations per second

Default Rates:

• CAN 2.050.0 Hz
• CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

public StatusSignal<double> GetVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Velocity Status Signal Object

GetVersion(bool)

Full Version of firmware in device. The format is a four byte value.

• Minimum Value0
• Maximum Value4294967295
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetVersion(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

Version Status Signal Object

GetVersionBugfix(bool)

App Bugfix Version number.

• Minimum Value0
• Maximum Value255
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetVersionBugfix(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBugfix Status Signal Object

GetVersionBuild(bool)

App Build Version number.

• Minimum Value0
• Maximum Value255
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetVersionBuild(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBuild Status Signal Object

GetVersionMajor(bool)

App Major Version number.

• Minimum Value0
• Maximum Value255
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetVersionMajor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMajor Status Signal Object

GetVersionMinor(bool)

App Minor Version number.

• Minimum Value0
• Maximum Value255
• Default Value0
• Units

Default Rates:

• CAN4.0 Hz

This refreshes and returns a cached StatusSignal object.

public StatusSignal<int> GetVersionMinor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMinor Status Signal Object

SetControl(CoastOut)

Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast.

CoastOut Parameters

• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(CoastOut request)

Parameters

request CoastOut

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_DutyCycleOut_Open)

Differential control with duty cycle average target and duty cycle difference target.

Diff_DutyCycleOut_Open Parameters

• AverageRequestAverage DutyCycleOut request of the mechanism.
• DifferentialRequestDifferential DutyCycleOut request of the mechanism.

public StatusCode SetControl(Diff_DutyCycleOut_Open request)

Parameters

request Diff_DutyCycleOut_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_DutyCycleOut_Position)

Differential control with duty cycle average target and position difference target.

Diff_DutyCycleOut_Position Parameters

• AverageRequestAverage DutyCycleOut request of the mechanism.
• DifferentialRequestDifferential PositionDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_DutyCycleOut_Position request)

Parameters

request Diff_DutyCycleOut_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_DutyCycleOut_Velocity)

Differential control with duty cycle average target and velocity difference target.

Diff_DutyCycleOut_Velocity Parameters

• AverageRequestAverage DutyCycleOut request of the mechanism.
• DifferentialRequestDifferential VelocityDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_DutyCycleOut_Velocity request)

Parameters

request Diff_DutyCycleOut_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicDutyCycle_Open)

Differential control with Motion Magic® average target and duty cycle difference target.

Diff_MotionMagicDutyCycle_Open Parameters

• AverageRequestAverage MotionMagicDutyCycle request of the mechanism.
• DifferentialRequestDifferential DutyCycleOut request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicDutyCycle_Open request)

Parameters

request Diff_MotionMagicDutyCycle_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicDutyCycle_Position)

Differential control with Motion Magic® average target and position difference target using duty cycle control.

Diff_MotionMagicDutyCycle_Position Parameters

• AverageRequestAverage MotionMagicDutyCycle request of the mechanism.
• DifferentialRequestDifferential PositionDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicDutyCycle_Position request)

Parameters

request Diff_MotionMagicDutyCycle_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicDutyCycle_Velocity)

Differential control with Motion Magic® average target and velocity difference target using duty cycle control.

Diff_MotionMagicDutyCycle_Velocity Parameters

• AverageRequestAverage MotionMagicDutyCycle request of the mechanism.
• DifferentialRequestDifferential VelocityDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicDutyCycle_Velocity request)

Parameters

request Diff_MotionMagicDutyCycle_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoDutyCycle_Open)

Differential control with Motion Magic® Expo average target and duty cycle difference target.

Diff_MotionMagicExpoDutyCycle_Open Parameters

• AverageRequestAverage MotionMagicExpoDutyCycle request of the mechanism.
• DifferentialRequestDifferential DutyCycleOut request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoDutyCycle_Open request)

Parameters

request Diff_MotionMagicExpoDutyCycle_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoDutyCycle_Position)

Differential control with Motion Magic® Expo average target and position difference target using duty cycle control.

Diff_MotionMagicExpoDutyCycle_Position Parameters

• AverageRequestAverage MotionMagicExpoDutyCycle request of the mechanism.
• DifferentialRequestDifferential PositionDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoDutyCycle_Position request)

Parameters

request Diff_MotionMagicExpoDutyCycle_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoDutyCycle_Velocity)

Differential control with Motion Magic® Expo average target and velocity difference target using duty cycle control.

Diff_MotionMagicExpoDutyCycle_Velocity Parameters

• AverageRequestAverage MotionMagicExpoDutyCycle request of the mechanism.
• DifferentialRequestDifferential VelocityDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoDutyCycle_Velocity request)

Parameters

request Diff_MotionMagicExpoDutyCycle_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Open)

Differential control with Motion Magic® Expo average target and torque current difference target.

Diff_MotionMagicExpoTorqueCurrentFOC_Open Parameters

• AverageRequestAverage MotionMagicExpoTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Open request)

Parameters

request Diff_MotionMagicExpoTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Position)

Differential control with Motion Magic® Expo average target and position difference target using torque current control.

Diff_MotionMagicExpoTorqueCurrentFOC_Position Parameters

• AverageRequestAverage MotionMagicExpoTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Position request)

Parameters

request Diff_MotionMagicExpoTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Velocity)

Differential control with Motion Magic® Expo average target and velocity difference target using torque current control.

Diff_MotionMagicExpoTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage MotionMagicExpoTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Velocity request)

Parameters

request Diff_MotionMagicExpoTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoVoltage_Open)

Differential control with Motion Magic® Expo average target and voltage difference target.

Diff_MotionMagicExpoVoltage_Open Parameters

• AverageRequestAverage MotionMagicExpoVoltage request of the mechanism.
• DifferentialRequestDifferential VoltageOut request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoVoltage_Open request)

Parameters

request Diff_MotionMagicExpoVoltage_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoVoltage_Position)

Differential control with Motion Magic® Expo average target and position difference target using voltage control.

Diff_MotionMagicExpoVoltage_Position Parameters

• AverageRequestAverage MotionMagicExpoVoltage request of the mechanism.
• DifferentialRequestDifferential PositionVoltage request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoVoltage_Position request)

Parameters

request Diff_MotionMagicExpoVoltage_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoVoltage_Velocity)

Differential control with Motion Magic® Expo average target and velocity difference target using voltage control.

Diff_MotionMagicExpoVoltage_Velocity Parameters

• AverageRequestAverage MotionMagicExpoVoltage request of the mechanism.
• DifferentialRequestDifferential VelocityVoltage request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicExpoVoltage_Velocity request)

Parameters

request Diff_MotionMagicExpoVoltage_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicTorqueCurrentFOC_Open)

Differential control with Motion Magic® average target and torque current difference target.

Diff_MotionMagicTorqueCurrentFOC_Open Parameters

• AverageRequestAverage MotionMagicTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicTorqueCurrentFOC_Open request)

Parameters

request Diff_MotionMagicTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicTorqueCurrentFOC_Position)

Differential control with Motion Magic® average target and position difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Position Parameters

• AverageRequestAverage MotionMagicTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicTorqueCurrentFOC_Position request)

Parameters

request Diff_MotionMagicTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicTorqueCurrentFOC_Velocity)

Differential control with Motion Magic® average target and velocity difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage MotionMagicTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicTorqueCurrentFOC_Velocity request)

Parameters

request Diff_MotionMagicTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityDutyCycle_Open)

Differential control with Motion Magic® Velocity average target and duty cycle difference target.

Diff_MotionMagicVelocityDutyCycle_Open Parameters

• AverageRequestAverage MotionMagicVelocityDutyCycle request of the mechanism.
• DifferentialRequestDifferential DutyCycleOut request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityDutyCycle_Open request)

Parameters

request Diff_MotionMagicVelocityDutyCycle_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityDutyCycle_Position)

Differential control with Motion Magic® Velocity average target and position difference target using duty cycle control.

Diff_MotionMagicVelocityDutyCycle_Position Parameters

• AverageRequestAverage MotionMagicVelocityDutyCycle request of the mechanism.
• DifferentialRequestDifferential PositionDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityDutyCycle_Position request)

Parameters

request Diff_MotionMagicVelocityDutyCycle_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityDutyCycle_Velocity)

Differential control with Motion Magic® Velocity average target and velocity difference target using duty cycle control.

Diff_MotionMagicVelocityDutyCycle_Velocity Parameters

• AverageRequestAverage MotionMagicVelocityDutyCycle request of the mechanism.
• DifferentialRequestDifferential VelocityDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityDutyCycle_Velocity request)

Parameters

request Diff_MotionMagicVelocityDutyCycle_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Open)

Differential control with Motion Magic® Velocity average target and torque current difference target.

Diff_MotionMagicVelocityTorqueCurrentFOC_Open Parameters

• AverageRequestAverage MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Open request)

Parameters

request Diff_MotionMagicVelocityTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Position)

Differential control with Motion Magic® Velocity average target and position difference target using torque current control.

Diff_MotionMagicVelocityTorqueCurrentFOC_Position Parameters

• AverageRequestAverage MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Position request)

Parameters

request Diff_MotionMagicVelocityTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity)

Differential control with Motion Magic® Velocity average target and velocity difference target using torque current control.

Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity request)

Parameters

request Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityVoltage_Open)

Differential control with Motion Magic® Velocity average target and voltage difference target.

Diff_MotionMagicVelocityVoltage_Open Parameters

• AverageRequestAverage MotionMagicVelocityVoltage request of the mechanism.
• DifferentialRequestDifferential VoltageOut request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityVoltage_Open request)

Parameters

request Diff_MotionMagicVelocityVoltage_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityVoltage_Position)

Differential control with Motion Magic® Velocity average target and position difference target using voltage control.

Diff_MotionMagicVelocityVoltage_Position Parameters

• AverageRequestAverage MotionMagicVelocityVoltage request of the mechanism.
• DifferentialRequestDifferential PositionVoltage request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityVoltage_Position request)

Parameters

request Diff_MotionMagicVelocityVoltage_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityVoltage_Velocity)

Differential control with Motion Magic® Velocity average target and velocity difference target using voltage control.

Diff_MotionMagicVelocityVoltage_Velocity Parameters

• AverageRequestAverage MotionMagicVelocityVoltage request of the mechanism.
• DifferentialRequestDifferential VelocityVoltage request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVelocityVoltage_Velocity request)

Parameters

request Diff_MotionMagicVelocityVoltage_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVoltage_Open)

Differential control with Motion Magic® average target and voltage difference target.

Diff_MotionMagicVoltage_Open Parameters

• AverageRequestAverage MotionMagicVoltage request of the mechanism.
• DifferentialRequestDifferential VoltageOut request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVoltage_Open request)

Parameters

request Diff_MotionMagicVoltage_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVoltage_Position)

Differential control with Motion Magic® average target and position difference target using voltage control.

Diff_MotionMagicVoltage_Position Parameters

• AverageRequestAverage MotionMagicVoltage request of the mechanism.
• DifferentialRequestDifferential PositionVoltage request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVoltage_Position request)

Parameters

request Diff_MotionMagicVoltage_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVoltage_Velocity)

Differential control with Motion Magic® average target and velocity difference target using voltage control.

Diff_MotionMagicVoltage_Velocity Parameters

• AverageRequestAverage MotionMagicVoltage request of the mechanism.
• DifferentialRequestDifferential VelocityVoltage request of the mechanism.

public StatusCode SetControl(Diff_MotionMagicVoltage_Velocity request)

Parameters

request Diff_MotionMagicVoltage_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionDutyCycle_Open)

Differential control with position average target and duty cycle difference target.

Diff_PositionDutyCycle_Open Parameters

• AverageRequestAverage PositionDutyCycle request of the mechanism.
• DifferentialRequestDifferential DutyCycleOut request of the mechanism.

public StatusCode SetControl(Diff_PositionDutyCycle_Open request)

Parameters

request Diff_PositionDutyCycle_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionDutyCycle_Position)

Differential control with position average target and position difference target using duty cycle control.

Diff_PositionDutyCycle_Position Parameters

• AverageRequestAverage PositionDutyCycle request of the mechanism.
• DifferentialRequestDifferential PositionDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_PositionDutyCycle_Position request)

Parameters

request Diff_PositionDutyCycle_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionDutyCycle_Velocity)

Differential control with position average target and velocity difference target using duty cycle control.

Diff_PositionDutyCycle_Velocity Parameters

• AverageRequestAverage PositionDutyCycle request of the mechanism.
• DifferentialRequestDifferential VelocityDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_PositionDutyCycle_Velocity request)

Parameters

request Diff_PositionDutyCycle_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionTorqueCurrentFOC_Open)

Differential control with position average target and torque current difference target.

Diff_PositionTorqueCurrentFOC_Open Parameters

• AverageRequestAverage PositionTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_PositionTorqueCurrentFOC_Open request)

Parameters

request Diff_PositionTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionTorqueCurrentFOC_Position)

Differential control with position average target and position difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Position Parameters

• AverageRequestAverage PositionTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_PositionTorqueCurrentFOC_Position request)

Parameters

request Diff_PositionTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionTorqueCurrentFOC_Velocity)

Differential control with position average target and velocity difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage PositionTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_PositionTorqueCurrentFOC_Velocity request)

Parameters

request Diff_PositionTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionVoltage_Open)

Differential control with position average target and voltage difference target.

Diff_PositionVoltage_Open Parameters

• AverageRequestAverage PositionVoltage request of the mechanism.
• DifferentialRequestDifferential VoltageOut request of the mechanism.

public StatusCode SetControl(Diff_PositionVoltage_Open request)

Parameters

request Diff_PositionVoltage_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionVoltage_Position)

Differential control with position average target and position difference target using voltage control.

Diff_PositionVoltage_Position Parameters

• AverageRequestAverage PositionVoltage request of the mechanism.
• DifferentialRequestDifferential PositionVoltage request of the mechanism.

public StatusCode SetControl(Diff_PositionVoltage_Position request)

Parameters

request Diff_PositionVoltage_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionVoltage_Velocity)

Differential control with position average target and velocity difference target using voltage control.

Diff_PositionVoltage_Velocity Parameters

• AverageRequestAverage PositionVoltage request of the mechanism.
• DifferentialRequestDifferential VelocityVoltage request of the mechanism.

public StatusCode SetControl(Diff_PositionVoltage_Velocity request)

Parameters

request Diff_PositionVoltage_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_TorqueCurrentFOC_Open)

Differential control with torque current average target and torque current difference target.

Diff_TorqueCurrentFOC_Open Parameters

• AverageRequestAverage TorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_TorqueCurrentFOC_Open request)

Parameters

request Diff_TorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_TorqueCurrentFOC_Position)

Differential control with torque current average target and position difference target.

Diff_TorqueCurrentFOC_Position Parameters

• AverageRequestAverage TorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_TorqueCurrentFOC_Position request)

Parameters

request Diff_TorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_TorqueCurrentFOC_Velocity)

Differential control with torque current average target and velocity difference target.

Diff_TorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage TorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_TorqueCurrentFOC_Velocity request)

Parameters

request Diff_TorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityDutyCycle_Open)

Differential control with velocity average target and duty cycle difference target.

Diff_VelocityDutyCycle_Open Parameters

• AverageRequestAverage VelocityDutyCYcle request of the mechanism.
• DifferentialRequestDifferential DutyCycleOut request of the mechanism.

public StatusCode SetControl(Diff_VelocityDutyCycle_Open request)

Parameters

request Diff_VelocityDutyCycle_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityDutyCycle_Position)

Differential control with velocity average target and position difference target using duty cycle control.

Diff_VelocityDutyCycle_Position Parameters

• AverageRequestAverage VelocityDutyCYcle request of the mechanism.
• DifferentialRequestDifferential PositionDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_VelocityDutyCycle_Position request)

Parameters

request Diff_VelocityDutyCycle_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityDutyCycle_Velocity)

Differential control with velocity average target and velocity difference target using duty cycle control.

Diff_VelocityDutyCycle_Velocity Parameters

• AverageRequestAverage VelocityDutyCycle request of the mechanism.
• DifferentialRequestDifferential VelocityDutyCycle request of the mechanism.

public StatusCode SetControl(Diff_VelocityDutyCycle_Velocity request)

Parameters

request Diff_VelocityDutyCycle_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityTorqueCurrentFOC_Open)

Differential control with velocity average target and torque current difference target.

Diff_VelocityTorqueCurrentFOC_Open Parameters

• AverageRequestAverage VelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_VelocityTorqueCurrentFOC_Open request)

Parameters

request Diff_VelocityTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityTorqueCurrentFOC_Position)

Differential control with velocity average target and position difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Position Parameters

• AverageRequestAverage VelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_VelocityTorqueCurrentFOC_Position request)

Parameters

request Diff_VelocityTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityTorqueCurrentFOC_Velocity)

Differential control with velocity average target and velocity difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage VelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

public StatusCode SetControl(Diff_VelocityTorqueCurrentFOC_Velocity request)

Parameters

request Diff_VelocityTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityVoltage_Open)

Differential control with velocity average target and voltage difference target.

Diff_VelocityVoltage_Open Parameters

• AverageRequestAverage VelocityVoltage request of the mechanism.
• DifferentialRequestDifferential VoltageOut request of the mechanism.

public StatusCode SetControl(Diff_VelocityVoltage_Open request)

Parameters

request Diff_VelocityVoltage_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityVoltage_Position)

Differential control with velocity average target and position difference target using voltage control.

Diff_VelocityVoltage_Position Parameters

• AverageRequestAverage VelocityVoltage request of the mechanism.
• DifferentialRequestDifferential PositionVoltage request of the mechanism.

public StatusCode SetControl(Diff_VelocityVoltage_Position request)

Parameters

request Diff_VelocityVoltage_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityVoltage_Velocity)

Differential control with velocity average target and velocity difference target using voltage control.

Diff_VelocityVoltage_Velocity Parameters

• AverageRequestAverage VelocityVoltage request of the mechanism.
• DifferentialRequestDifferential VelocityVoltage request of the mechanism.

public StatusCode SetControl(Diff_VelocityVoltage_Velocity request)

Parameters

request Diff_VelocityVoltage_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VoltageOut_Open)

Differential control with voltage average target and voltage difference target.

Diff_VoltageOut_Open Parameters

• AverageRequestAverage VoltageOut request of the mechanism.
• DifferentialRequestDifferential VoltageOut request of the mechanism.

public StatusCode SetControl(Diff_VoltageOut_Open request)

Parameters

request Diff_VoltageOut_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VoltageOut_Position)

Differential control with voltage average target and position difference target.

Diff_VoltageOut_Position Parameters

• AverageRequestAverage VoltageOut request of the mechanism.
• DifferentialRequestDifferential PositionVoltage request of the mechanism.

public StatusCode SetControl(Diff_VoltageOut_Position request)

Parameters

request Diff_VoltageOut_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VoltageOut_Velocity)

Differential control with voltage average target and velocity difference target.

Diff_VoltageOut_Velocity Parameters

• AverageRequestAverage VoltageOut request of the mechanism.
• DifferentialRequestDifferential VelocityVoltage request of the mechanism.

public StatusCode SetControl(Diff_VoltageOut_Velocity request)

Parameters

request Diff_VoltageOut_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(ControlRequest)

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

public StatusCode SetControl(ControlRequest request)

Parameters

request ControlRequest

Control object to request of the device

Returns

StatusCode

Status Code of the request, 0 is OK

SetControl(DifferentialDutyCycle)

Request a specified motor duty cycle with a differential position closed-loop.

This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialDutyCycle Parameters

• AverageOutputProportion of supply voltage to apply on the Average axis in fractional units between -1 and +1.
• DifferentialPositionDifferential position to drive towards in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialDutyCycle request)

Parameters

request DifferentialDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialFollower)

Follow the differential motor output of another Talon.

If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction either matches leader's configured direction or opposes it based on the MotorAlignment.

The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

DifferentialFollower Parameters

• LeaderIDDevice ID of the differential leader to follow.
• MotorAlignmentSet to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

public StatusCode SetControl(DifferentialFollower request)

Parameters

request DifferentialFollower

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialMotionMagicDutyCycle)

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DifferentialMotionMagicDutyCycle Parameters

• AveragePositionAverage position to drive toward in rotations.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialMotionMagicDutyCycle request)

Parameters

request DifferentialMotionMagicDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialMotionMagicExpoDutyCycle)

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DifferentialMotionMagicExpoDutyCycle Parameters

• AveragePositionAverage position to drive toward in rotations.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialMotionMagicExpoDutyCycle request)

Parameters

request DifferentialMotionMagicExpoDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialMotionMagicExpoVoltage)

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DifferentialMotionMagicExpoVoltage Parameters

• AveragePositionAverage position to drive toward in rotations.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialMotionMagicExpoVoltage request)

Parameters

request DifferentialMotionMagicExpoVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialMotionMagicVelocityDutyCycle)

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint. This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DifferentialMotionMagicVelocityDutyCycle Parameters

• AverageVelocityAverage velocity to drive toward in rotations per second.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialMotionMagicVelocityDutyCycle request)

Parameters

request DifferentialMotionMagicVelocityDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialMotionMagicVelocityVoltage)

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint. This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DifferentialMotionMagicVelocityVoltage Parameters

• AverageVelocityAverage velocity to drive toward in rotations per second.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialMotionMagicVelocityVoltage request)

Parameters

request DifferentialMotionMagicVelocityVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialMotionMagicVoltage)

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DifferentialMotionMagicVoltage Parameters

• AveragePositionAverage position to drive toward in rotations.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialMotionMagicVoltage request)

Parameters

request DifferentialMotionMagicVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialPositionDutyCycle)

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialPositionDutyCycle Parameters

• AveragePositionAverage position to drive toward in rotations.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialPositionDutyCycle request)

Parameters

request DifferentialPositionDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialPositionVoltage)

Request PID to target position with a differential position setpoint

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialPositionVoltage Parameters

• AveragePositionAverage position to drive toward in rotations.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialPositionVoltage request)

Parameters

request DifferentialPositionVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialStrictFollower)

Follow the differential motor output of another Talon while ignoring the leader's invert setting.

If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use DifferentialFollower instead.

The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

DifferentialStrictFollower Parameters

• LeaderIDDevice ID of the differential leader to follow.

public StatusCode SetControl(DifferentialStrictFollower request)

Parameters

request DifferentialStrictFollower

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialVelocityDutyCycle)

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialVelocityDutyCycle Parameters

• AverageVelocityAverage velocity to drive toward in rotations per second.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialVelocityDutyCycle request)

Parameters

request DifferentialVelocityDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialVelocityVoltage)

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialVelocityVoltage Parameters

• AverageVelocityAverage velocity to drive toward in rotations per second.
• DifferentialPositionDifferential position to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• AverageSlotSelect which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialVelocityVoltage request)

Parameters

request DifferentialVelocityVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DifferentialVoltage)

Request a specified voltage with a differential position closed-loop.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.

DifferentialVoltage Parameters

• AverageOutputVoltage to attempt to drive at on the Average axis.
• DifferentialPositionDifferential position to drive towards in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• DifferentialSlotSelect which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DifferentialVoltage request)

Parameters

request DifferentialVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DutyCycleOut)

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

DutyCycleOut Parameters

• OutputProportion of supply voltage to apply in fractional units between -1 and +1
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DutyCycleOut request)

Parameters

request DutyCycleOut

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicDutyCycle)

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DynamicMotionMagicDutyCycle Parameters

• PositionPosition to drive toward in rotations.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• AccelerationAcceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation
• JerkJerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DynamicMotionMagicDutyCycle request)

Parameters

request DynamicMotionMagicDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicExpoDutyCycle)

Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DynamicMotionMagicExpoDutyCycle Parameters

• PositionPosition to drive toward in rotations.
• kVMechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.
  This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
• kAMechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².
  This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DynamicMotionMagicExpoDutyCycle request)

Parameters

request DynamicMotionMagicExpoDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicExpoTorqueCurrentFOC)

Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

DynamicMotionMagicExpoTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• kVMechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.
  This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
• kAMechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².
  This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DynamicMotionMagicExpoTorqueCurrentFOC request)

Parameters

request DynamicMotionMagicExpoTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicExpoVoltage)

Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DynamicMotionMagicExpoVoltage Parameters

• PositionPosition to drive toward in rotations.
• kVMechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.
  This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
• kAMechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².
  This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DynamicMotionMagicExpoVoltage request)

Parameters

request DynamicMotionMagicExpoVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicTorqueCurrentFOC)

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

DynamicMotionMagicTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• AccelerationAcceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• JerkJerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DynamicMotionMagicTorqueCurrentFOC request)

Parameters

request DynamicMotionMagicTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicVoltage)

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DynamicMotionMagicVoltage Parameters

• PositionPosition to drive toward in rotations.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• AccelerationAcceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• JerkJerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(DynamicMotionMagicVoltage request)

Parameters

request DynamicMotionMagicVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Follower)

Follow the motor output of another Talon.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction either matches the leader's configured direction or opposes it based on the MotorAlignment.

The leader must enable the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent). The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

Follower Parameters

• LeaderIDDevice ID of the leader to follow.
• MotorAlignmentSet to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

public StatusCode SetControl(Follower request)

Parameters

request Follower

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicDutyCycle)

Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicDutyCycle Parameters

• PositionPosition to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicDutyCycle request)

Parameters

request MotionMagicDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicExpoDutyCycle)

Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicExpoDutyCycle Parameters

• PositionPosition to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicExpoDutyCycle request)

Parameters

request MotionMagicExpoDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicExpoTorqueCurrentFOC)

Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicExpoTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicExpoTorqueCurrentFOC request)

Parameters

request MotionMagicExpoTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicExpoVoltage)

Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicExpoVoltage Parameters

• PositionPosition to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicExpoVoltage request)

Parameters

request MotionMagicExpoVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicTorqueCurrentFOC)

Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicTorqueCurrentFOC request)

Parameters

request MotionMagicTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicVelocityDutyCycle)

Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicVelocityDutyCycle Parameters

• VelocityTarget velocity to drive toward in rotations per second. This can be changed on-the fly.
• AccelerationThis is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicVelocityDutyCycle request)

Parameters

request MotionMagicVelocityDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicVelocityTorqueCurrentFOC)

Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicVelocityTorqueCurrentFOC Parameters

• VelocityTarget velocity to drive toward in rotations per second. This can be changed on-the fly.
• AccelerationThis is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicVelocityTorqueCurrentFOC request)

Parameters

request MotionMagicVelocityTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicVelocityVoltage)

Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicVelocityVoltage Parameters

• VelocityTarget velocity to drive toward in rotations per second. This can be changed on-the fly.
• AccelerationThis is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicVelocityVoltage request)

Parameters

request MotionMagicVelocityVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicVoltage)

Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicVoltage Parameters

• PositionPosition to drive toward in rotations.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(MotionMagicVoltage request)

Parameters

request MotionMagicVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MusicTone)

Plays a single tone at the user specified frequency.

MusicTone Parameters

• AudioFrequencySound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000 Hz. Any nonzero frequency less than 10 Hz will be capped to 10 Hz. Any frequency above 20 kHz will be capped to 20 kHz.

public StatusCode SetControl(MusicTone request)

Parameters

request MusicTone

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(NeutralOut)

Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration.

NeutralOut Parameters

• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(NeutralOut request)

Parameters

request NeutralOut

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(PositionDutyCycle)

Request PID to target position with duty cycle feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.

PositionDutyCycle Parameters

• PositionPosition to drive toward in rotations.
• VelocityVelocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(PositionDutyCycle request)

Parameters

request PositionDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(PositionTorqueCurrentFOC)

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

PositionTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• VelocityVelocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(PositionTorqueCurrentFOC request)

Parameters

request PositionTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(PositionVoltage)

Request PID to target position with voltage feedforward

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

PositionVoltage Parameters

• PositionPosition to drive toward in rotations.
• VelocityVelocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(PositionVoltage request)

Parameters

request PositionVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(StaticBrake)

Applies full neutral-brake by shorting motor leads together.

StaticBrake Parameters

• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(StaticBrake request)

Parameters

request StaticBrake

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(StrictFollower)

Follow the motor output of another Talon while ignoring the leader's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

The leader must enable the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent). The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

StrictFollower Parameters

• LeaderIDDevice ID of the leader to follow.

public StatusCode SetControl(StrictFollower request)

Parameters

request StrictFollower

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(TorqueCurrentFOC)

Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

TorqueCurrentFOC Parameters

• OutputAmount of motor current in Amperes
• MaxAbsDutyCycleThe maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
• DeadbandDeadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(TorqueCurrentFOC request)

Parameters

request TorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(VelocityDutyCycle)

Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

VelocityDutyCycle Parameters

• VelocityVelocity to drive toward in rotations per second.
• AccelerationAcceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(VelocityDutyCycle request)

Parameters

request VelocityDutyCycle

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(VelocityTorqueCurrentFOC)

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

VelocityTorqueCurrentFOC Parameters

• VelocityVelocity to drive toward in rotations per second.
• AccelerationAcceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
• FeedForwardFeedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  User can use motor's kT to scale Newton-meter to Amperes.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideCoastDurNeutralSet to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(VelocityTorqueCurrentFOC request)

Parameters

request VelocityTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(VelocityVoltage)

Request PID to target velocity with voltage feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

VelocityVoltage Parameters

• VelocityVelocity to drive toward in rotations per second.
• AccelerationAcceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• FeedForwardFeedforward to apply in volts This is added to the output of the onboard feedforward terms.
• SlotSelect which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(VelocityVoltage request)

Parameters

request VelocityVoltage

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(VoltageOut)

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

VoltageOut Parameters

• OutputVoltage to attempt to drive at
• EnableFOCSet to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
• OverrideBrakeDurNeutralSet to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
• LimitForwardMotionSet to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• LimitReverseMotionSet to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
• IgnoreHardwareLimitsSet to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
• IgnoreSoftwareLimitsSet to true to ignore software limits, instead allowing motion.
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  The software limit faults will still report the values of the software limits regardless of this parameter.
• UseTimesyncSet to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

public StatusCode SetControl(VoltageOut request)

Parameters

request VoltageOut

Control object to request of the device

Returns

StatusCode

Code response of the request

SetPosition(double, double)

Sets the mechanism position of the device in mechanism rotations.

public StatusCode SetPosition(double newValue, double timeoutSeconds = 0.1)

Parameters

newValue double

Value to set to. Units are in rotations.

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command