Interface HasExternalMotor

Namespace

CTRE.Phoenix6.Hardware.Traits

Assembly

Phoenix6.Hardware.dll

Contains all status signals for motor controllers that support external motors.

public interface HasExternalMotor : CommonDevice

Inherited Members

CommonDevice.DeviceID

CommonDevice.Network

CommonDevice.DeviceHash

CommonDevice.AppliedControl

CommonDevice.HasResetOccurred

CommonDevice.GetResetOccurredChecker()

CommonDevice.OptimizeBusUtilization(double, double)

CommonDevice.ResetSignalFrequencies(double)

Methods

ClearStickyFault_BridgeShort(double)

Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

StatusCode ClearStickyFault_BridgeShort(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_DriveDisabledHallSensor(double)

Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

StatusCode ClearStickyFault_DriveDisabledHallSensor(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_HallSensorMissing(double)

Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

StatusCode ClearStickyFault_HallSensorMissing(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MotorArrangementNotSelected(double)

Clear sticky fault: Motor arrangement has not been set in configuration.

StatusCode ClearStickyFault_MotorArrangementNotSelected(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MotorTempSensorMissing(double)

Clear sticky fault: Motor temperature signal appears to not be connected.

StatusCode ClearStickyFault_MotorTempSensorMissing(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MotorTempSensorTooHot(double)

Clear sticky fault: Motor temperature signal indicates motor is too hot.

StatusCode ClearStickyFault_MotorTempSensorTooHot(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

GetAnalogVoltage(bool)

The voltage of the analog pin (pin 3) of the Talon FXS data port. The analog pin reads a nominal voltage of 0-5V.

• Minimum Value0
• Maximum Value6
• Default Value0
• UnitsVolts

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetAnalogVoltage(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

AnalogVoltage Status Signal Object

GetExternalMotorTemp(bool)

Temperature of the external motor.

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

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetExternalMotorTemp(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

ExternalMotorTemp Status Signal Object

GetExternalMotorTempStatus(bool)

Status of the temperature sensor of the external motor.

This refreshes and returns a cached StatusSignal object.

StatusSignal<ExternalMotorTempStatusValue> GetExternalMotorTempStatus(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<ExternalMotorTempStatusValue>

ExternalMotorTempStatus Status Signal Object

GetFault_5V(bool)

The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_5V(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_5V Status Signal Object

GetFault_BridgeShort(bool)

Bridge was disabled most likely due to a short in the motor leads.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_BridgeShort(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_BridgeShort Status Signal Object

GetFault_DriveDisabledHallSensor(bool)

Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_DriveDisabledHallSensor(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_DriveDisabledHallSensor Status Signal Object

GetFault_HallSensorMissing(bool)

Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_HallSensorMissing(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_HallSensorMissing Status Signal Object

GetFault_MotorArrangementNotSelected(bool)

Motor arrangement has not been set in configuration.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_MotorArrangementNotSelected(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_MotorArrangementNotSelected Status Signal Object

GetFault_MotorTempSensorMissing(bool)

Motor temperature signal appears to not be connected.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_MotorTempSensorMissing(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_MotorTempSensorMissing Status Signal Object

GetFault_MotorTempSensorTooHot(bool)

Motor temperature signal indicates motor is too hot.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetFault_MotorTempSensorTooHot(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

Fault_MotorTempSensorTooHot Status Signal Object

GetFiveVRailVoltage(bool)

The measured voltage of the 5V rail available on the JST and dataport connectors.

• Minimum Value0.0
• Maximum Value40.95
• Default Value0
• UnitsVolts

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetFiveVRailVoltage(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

FiveVRailVoltage Status Signal Object

GetRawPulseWidthPosition(bool)

The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

This signal must have its update frequency configured before it will have data.

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

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetRawPulseWidthPosition(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

RawPulseWidthPosition Status Signal Object

GetRawPulseWidthVelocity(bool)

The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

This signal must have its update frequency configured before it will have data.

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

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetRawPulseWidthVelocity(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

RawPulseWidthVelocity Status Signal Object

GetRawQuadraturePosition(bool)

The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

This signal must have its update frequency configured before it will have data.

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

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetRawQuadraturePosition(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

RawQuadraturePosition Status Signal Object

GetRawQuadratureVelocity(bool)

The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

This signal must have its update frequency configured before it will have data.

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

This refreshes and returns a cached StatusSignal object.

StatusSignal<double> GetRawQuadratureVelocity(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<double>

RawQuadratureVelocity Status Signal Object

GetStickyFault_5V(bool)

The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_5V(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_5V Status Signal Object

GetStickyFault_BridgeShort(bool)

Bridge was disabled most likely due to a short in the motor leads.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_BridgeShort(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_BridgeShort Status Signal Object

GetStickyFault_DriveDisabledHallSensor(bool)

Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_DriveDisabledHallSensor(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_DriveDisabledHallSensor Status Signal Object

GetStickyFault_HallSensorMissing(bool)

Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_HallSensorMissing(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_HallSensorMissing Status Signal Object

GetStickyFault_MotorArrangementNotSelected(bool)

Motor arrangement has not been set in configuration.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_MotorArrangementNotSelected(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_MotorArrangementNotSelected Status Signal Object

GetStickyFault_MotorTempSensorMissing(bool)

Motor temperature signal appears to not be connected.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_MotorTempSensorMissing(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_MotorTempSensorMissing Status Signal Object

GetStickyFault_MotorTempSensorTooHot(bool)

Motor temperature signal indicates motor is too hot.

• Default ValueFalse

This refreshes and returns a cached StatusSignal object.

StatusSignal<bool> GetStickyFault_MotorTempSensorTooHot(bool refresh = true)

Parameters

refresh bool

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

Returns

StatusSignal<bool>

StickyFault_MotorTempSensorTooHot Status Signal Object