Table of Contents

Enum DifferentialSensorSourceValue

Namespace
CTRE.Phoenix6.Signals
Assembly
Phoenix6.Hardware.dll

Choose what sensor source is used for differential control of a mechanism. The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.

Choose RemoteTalonFX_HalfDiff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use half of the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.

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

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus. 
public enum DifferentialSensorSourceValue
Extension Methods

Fields

Disabled = 0

Disable differential control.

RemoteCANcoder = 5

Use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.

RemoteCANdiPWM1 = 6

Use a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CTR Electronics' CANdi™ whenever the CTR Electronics' CANdi™ publishes its information on CAN bus.

RemoteCANdiPWM2 = 7

Use a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CTR Electronics' CANdi™ whenever the CTR Electronics' CANdi™ publishes its information on CAN bus.

RemoteCANdiQuadrature = 8

Use a quadrature encoder remotely attached to the two Sensor Inputs on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CTR Electronics' CANdi™ whenever the CTR Electronics' CANdi™ publishes its information on CAN bus.

RemotePigeon2Pitch = 3

Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

RemotePigeon2Roll = 4

Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

RemotePigeon2Yaw = 2

Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

RemoteTalonFX_HalfDiff = 1

Use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use half of the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.