Package com.ctre.phoenix6.hardware

Class TalonFX

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreTalonFX
com.ctre.phoenix6.hardware.TalonFX
All Implemented Interfaces:
CommonTalon, CommonTalonWithFOC, HasTalonControls, HasTalonSignals, SupportsFOC, SupportsMusic, Sendable, AutoCloseable
public class TalonFX extends CoreTalonFX implements Sendable, AutoCloseable
WPILib-integrated version of CoreTalonFX

  • Field Details

  • Constructor Details

    • TalonFX

      public TalonFX(int deviceId)
      Constructs a new Talon FX motor controller object.

      Constructs the device using the default CAN bus for the system:

      • "rio" on roboRIO
      • "can0" on Linux
      • "*" on Windows
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.

    • TalonFX

      public TalonFX(int deviceId, CANBus canbus)
      Constructs a new Talon FX motor controller object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.
      canbus - The CAN bus this device is on.

    • TalonFX

      public TalonFX(int deviceId, String canbus)
      Constructs a new Talon FX motor controller object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.
      canbus - Name of the CAN bus this device is on. Possible CAN bus strings are:
      • "rio" for the native roboRIO CAN bus
      • 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:
        • "rio" on roboRIO
        • "can0" on Linux
        • "*" on Windows

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • set

      public void set(double speed)
      Common interface for setting the speed of a motor controller.
      Parameters:
      speed - The speed to set. Value should be between -1.0 and 1.0.

    • setVoltage

      public void setVoltage(double volts)
      Common interface for seting the direct voltage output of a motor controller.
      Parameters:
      volts - The voltage to output.

    • get

      public double get()
      Common interface for getting the current set speed of a motor controller.
      Returns:
      The current set speed. Value is between -1.0 and 1.0.

    • setControlPrivate

      protected StatusCode setControlPrivate(ControlRequest request)
      Overrides:
      setControlPrivate in class ParentDevice

    • disable

      public void disable()
      Common interface for disabling a motor controller.

    • stopMotor

      public void stopMotor()
      Common interface to stop motor movement until set is called again.

    • setInverted

      @Deprecated(forRemoval=true) public StatusCode setInverted(boolean isInverted)
      Deprecated, for removal: This API element is subject to removal in a future version.
      This API is deprecated for removal in 2026. Since invert is a config, apply the invert setting as part of a full TalonFXConfiguration object. Invert can be found in the MotorOutput config group.
      Common interface for inverting direction of a motor controller.

      Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      Since invert affects the reported motor position, this API should be called before any calls to CoreTalonFX.setPosition(double).

      Parameters:
      isInverted - The state of inversion, true is inverted.
      Returns:
      Status of refreshing and applying the invert config

    • getInverted

      @Deprecated(forRemoval=true) public boolean getInverted()
      Deprecated, for removal: This API element is subject to removal in a future version.
      This API is deprecated for removal in 2026. Since invert is a config, read the invert setting as part of a full TalonFXConfiguration object or using a MotorOutputConfigs object. Applied invert, which may not match the invert config for followers, can also be fetched using CoreTalonFX.getAppliedRotorPolarity().
      Common interface for returning the inversion state of a motor controller.

      Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      Returns:
      The state of the inversion, true is inverted.

    • setNeutralMode

      public StatusCode setNeutralMode(NeutralModeValue neutralMode)
      Sets the mode of operation when output is neutral or disabled.

      Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      This will wait up to 0.100 seconds (100ms) by default.

      Parameters:
      neutralMode - The state of the motor controller bridge when output is neutral or disabled
      Returns:
      Status of refreshing and applying the neutral mode config

    • setNeutralMode

      public StatusCode setNeutralMode(NeutralModeValue neutralMode, double timeoutSeconds)
      Sets the mode of operation when output is neutral or disabled.

      Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      Parameters:
      neutralMode - The state of the motor controller bridge when output is neutral or disabled
      timeoutSeconds - Maximum amount of time to wait when performing configuration
      Returns:
      Status of refreshing and applying the neutral mode config

    • initSendable

      public void initSendable(SendableBuilder builder)
      Specified by:
      initSendable in interface Sendable

    • getDescription

      public String getDescription()
      Returns:
      Description of motor controller

    • feed

      public void feed()
      Feed the motor safety object.

      Resets the timer on this object that is used to do the timeouts.

    • setExpiration

      public void setExpiration(double expirationTime)
      Set the expiration time for the corresponding motor safety object.
      Parameters:
      expirationTime - The timeout value in seconds.

    • getExpiration

      public double getExpiration()
      Retrieve the timeout value for the corresponding motor safety object.
      Returns:
      the timeout value in seconds.

    • isAlive

      public boolean isAlive()
      Determine of the motor is still operating or has timed out.
      Returns:
      a true value if the motor is still operating normally and hasn't timed out.

    • setSafetyEnabled

      public void setSafetyEnabled(boolean enabled)
      Enable/disable motor safety for this device.

      Turn on and off the motor safety option for this object.

      Parameters:
      enabled - True if motor safety is enforced for this object.

    • isSafetyEnabled

      public boolean isSafetyEnabled()
      Return the state of the motor safety enabled flag.

      Return if the motor safety is currently enabled for this device.

      Returns:
      True if motor safety is enforced for this device