Table of Contents

Enum MotorArrangementValue

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

Selects the motor and motor connections used with Talon.

This setting determines what kind of motor and sensors are used with the Talon. This also determines what signals are used on the JST and Gadgeteer port.

Motor drive will not function correctly if this setting does not match the physical setup. 
public enum MotorArrangementValue
Extension Methods

Fields

Brushed_DC = 2

Third party brushed DC motor with two leads. Use the Brushed Motor Wiring config to determine which leads to use on the Talon (motor leads may be flipped to correct for clockwise vs counterclockwise). Note that the invert configuration can still be used to invert rotor orientation. Gadgeteer Connector: quadrature [A, B] are on pins [7, 5], limit [forward, reverse] are on pins [4, 8], and pulse width position is on pin [9].

CustomBrushless = 8

Third party custom brushless three phase motor. This setting allows use of TalonFXS with motors that are not explicitly supported above. Note that this requires user to set the Custom Motor configuration parameters. This setting will only work outside of the FRC use case. If selected during FRC use, motor output will be neutral. Motor leads: red(terminal A), black (terminal B), and white (terminal C). JST Connector: hall [A, B, C] is on pins [4, 3, 2] and temperature is on pin [5]. Motor JST cable can be plugged directly into the JST connector. Gadgeteer Connector: quadrature [A, B] are on pins [7, 5], limit [forward, reverse] are on pins [4, 8], and pulse width position is on pin [9].

Disabled = 0

Motor is not selected. This is the default setting to ensure the user has an opportunity to select the correct motor arrangement before attempting to drive motor.

Minion_JST = 1

CTR Electronics Minion® brushless three phase motor. Motor leads: red(terminal A), black (terminal B), and white (terminal C). JST Connector: hall [A, B, C] is on pins [4, 3, 2] and temperature is on pin [5]. Motor JST cable can be plugged directly into the JST connector. Gadgeteer Connector: quadrature [A, B] are on pins [7, 5], limit [forward, reverse] are on pins [4, 8], and pulse width position is on pin [9].

NEO550_JST = 6

Third party NEO550 brushless three phase motor (~11000 RPM at 12V). Motor leads: red(terminal A), black (terminal B), and white (terminal C). JST Connector: hall [A, B, C] is on pins [4, 3, 2] and temperature is on pin [5]. Motor JST cable can be plugged directly into the JST connector. Gadgeteer Connector: quadrature [A, B] are on pins [7, 5], limit [forward, reverse] are on pins [4, 8], and pulse width position is on pin [9].

NEO_JST = 5

Third party NEO brushless three phase motor (~6000 RPM at 12V). Motor leads: red(terminal A), black (terminal B), and white (terminal C). JST Connector: hall [A, B, C] is on pins [4, 3, 2] and temperature is on pin [5]. Motor JST cable can be plugged directly into the JST connector. Gadgeteer Connector: quadrature [A, B] are on pins [7, 5], limit [forward, reverse] are on pins [4, 8], and pulse width position is on pin [9].

VORTEX_JST = 7

Third party VORTEX brushless three phase motor. Motor leads: red(terminal A), black (terminal B), and white (terminal C). JST Connector: hall [A, B, C] is on pins [4, 3, 2] and temperature is on pin [5]. Motor JST cable can be plugged directly into the JST connector. Gadgeteer Connector: quadrature [A, B] are on pins [7, 5], limit [forward, reverse] are on pins [4, 8], and pulse width position is on pin [9].