Package com.ctre.phoenix6.hardware.core

Class CoreTalonFX

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreTalonFX
All Implemented Interfaces:
CommonTalon, CommonTalonWithFOC, HasTalonControls, HasTalonSignals, SupportsFOC, SupportsMusic
Direct Known Subclasses:
TalonFX
public class CoreTalonFX extends ParentDevice implements CommonTalonWithFOC
Class description for the Talon FX integrated motor controller. 
 // Constants used in TalonFX construction
 final int kTalonFXId = 0;
 final String kTalonFXCANbus = "canivore";
 
 // Construct the TalonFX
 TalonFX talonfx = new TalonFX(kTalonFXId, kTalonFXCANbus);
 
 // Configure the TalonFX for basic use
 TalonFXConfiguration configs = new TalonFXConfiguration();
 // This TalonFX should be configured with a kP of 1, a kI of 0, a kD of 10, and a kV of 2 on slot 0
 configs.Slot0.kP = 1;
 configs.Slot0.kI = 0;
 configs.Slot0.kD = 10;
 configs.Slot0.kV = 2;
 
 // Write these configs to the TalonFX
 talonfx.getConfigurator().apply(configs);
 
 // Set the position to 0 rotations for initial use
 talonfx.setPosition(0);
 
 // Get Position and Velocity
 var position = talonfx.getPosition();
 var velocity = talonfx.getVelocity();
 
 // Refresh and print these values
 System.out.println("Position is " + position.refresh().toString());
 System.out.println("Velocity is " + velocity.refresh().toString());

  • Constructor Details

    • CoreTalonFX

      public CoreTalonFX(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.

    • CoreTalonFX

      public CoreTalonFX(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

    • CoreTalonFX

      public CoreTalonFX(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.

  • Method Details

    • getConfigurator

      public TalonFXConfigurator getConfigurator()
      Gets the configurator to use with this device's configs
      Returns:
      Configurator for this object

    • getSimState

      public TalonFXSimState getSimState()
      Get 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.

      Returns:
      Simulation state

    • getVersionMajor

      public StatusSignal<Integer> getVersionMajor()
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMajor in interface HasTalonSignals
      Returns:
      VersionMajor Status Signal Object

    • getVersionMajor

      public StatusSignal<Integer> getVersionMajor(boolean refresh)
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMajor in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMajor Status Signal Object

    • getVersionMinor

      public StatusSignal<Integer> getVersionMinor()
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMinor in interface HasTalonSignals
      Returns:
      VersionMinor Status Signal Object

    • getVersionMinor

      public StatusSignal<Integer> getVersionMinor(boolean refresh)
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMinor in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMinor Status Signal Object

    • getVersionBugfix

      public StatusSignal<Integer> getVersionBugfix()
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBugfix in interface HasTalonSignals
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBugfix

      public StatusSignal<Integer> getVersionBugfix(boolean refresh)
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBugfix in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBuild

      public StatusSignal<Integer> getVersionBuild()
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBuild in interface HasTalonSignals
      Returns:
      VersionBuild Status Signal Object

    • getVersionBuild

      public StatusSignal<Integer> getVersionBuild(boolean refresh)
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBuild in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBuild Status Signal Object

    • getVersion

      public StatusSignal<Integer> getVersion()
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersion in interface HasTalonSignals
      Returns:
      Version Status Signal Object

    • getVersion

      public StatusSignal<Integer> getVersion(boolean refresh)
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersion in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Version Status Signal Object

    • getFaultField

      public StatusSignal<Integer> getFaultField()
      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 Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFaultField in interface HasTalonSignals
      Returns:
      FaultField Status Signal Object

    • getFaultField

      public StatusSignal<Integer> getFaultField(boolean refresh)
      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 Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFaultField in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      FaultField Status Signal Object

    • getStickyFaultField

      public StatusSignal<Integer> getStickyFaultField()
      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 Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFaultField in interface HasTalonSignals
      Returns:
      StickyFaultField Status Signal Object

    • getStickyFaultField

      public StatusSignal<Integer> getStickyFaultField(boolean refresh)
      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 Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFaultField in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFaultField Status Signal Object

    • getMotorVoltage

      public StatusSignal<edu.wpi.first.units.measure.Voltage> getMotorVoltage()
      The applied (output) motor voltage.
      • Minimum Value: -40.96
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: V
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorVoltage in interface HasTalonSignals
      Returns:
      MotorVoltage Status Signal Object

    • getMotorVoltage

      public StatusSignal<edu.wpi.first.units.measure.Voltage> getMotorVoltage(boolean refresh)
      The applied (output) motor voltage.
      • Minimum Value: -40.96
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: V
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorVoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorVoltage Status Signal Object

    • getForwardLimit

      public StatusSignal<ForwardLimitValue> getForwardLimit()
      Forward Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getForwardLimit in interface HasTalonSignals
      Returns:
      ForwardLimit Status Signal Object

    • getForwardLimit

      public StatusSignal<ForwardLimitValue> getForwardLimit(boolean refresh)
      Forward Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getForwardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ForwardLimit Status Signal Object

    • getReverseLimit

      public StatusSignal<ReverseLimitValue> getReverseLimit()
      Reverse Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getReverseLimit in interface HasTalonSignals
      Returns:
      ReverseLimit Status Signal Object

    • getReverseLimit

      public StatusSignal<ReverseLimitValue> getReverseLimit(boolean refresh)
      Reverse Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getReverseLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ReverseLimit Status Signal Object

    • getAppliedRotorPolarity

      public StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity()
      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 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAppliedRotorPolarity in interface HasTalonSignals
      Returns:
      AppliedRotorPolarity Status Signal Object

    • getAppliedRotorPolarity

      public StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity(boolean refresh)
      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 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAppliedRotorPolarity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AppliedRotorPolarity Status Signal Object

    • getDutyCycle

      public StatusSignal<Double> getDutyCycle()
      The applied motor duty cycle.
      • Minimum Value: -2.0
      • Maximum Value: 1.9990234375
      • Default Value: 0
      • Units: fractional
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDutyCycle in interface HasTalonSignals
      Returns:
      DutyCycle Status Signal Object

    • getDutyCycle

      public StatusSignal<Double> getDutyCycle(boolean refresh)
      The applied motor duty cycle.
      • Minimum Value: -2.0
      • Maximum Value: 1.9990234375
      • Default Value: 0
      • Units: fractional
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDutyCycle in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DutyCycle Status Signal Object

    • getTorqueCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getTorqueCurrent()
      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 Value: 327.67
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getTorqueCurrent in interface HasTalonSignals
      Returns:
      TorqueCurrent Status Signal Object

    • getTorqueCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getTorqueCurrent(boolean refresh)
      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 Value: 327.67
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getTorqueCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      TorqueCurrent Status Signal Object

    • getStatorCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getStatorCurrent()
      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 Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStatorCurrent in interface HasTalonSignals
      Returns:
      StatorCurrent Status Signal Object

    • getStatorCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getStatorCurrent(boolean refresh)
      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 Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStatorCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StatorCurrent Status Signal Object

    • getSupplyCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getSupplyCurrent()
      Measured supply side current.
      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyCurrent in interface HasTalonSignals
      Returns:
      SupplyCurrent Status Signal Object

    • getSupplyCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getSupplyCurrent(boolean refresh)
      Measured supply side current.
      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SupplyCurrent Status Signal Object

    • getSupplyVoltage

      public StatusSignal<edu.wpi.first.units.measure.Voltage> getSupplyVoltage()
      Measured supply voltage to the device.
      • Minimum Value: 4
      • Maximum Value: 29.575
      • Default Value: 4
      • Units: V
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyVoltage in interface HasTalonSignals
      Returns:
      SupplyVoltage Status Signal Object

    • getSupplyVoltage

      public StatusSignal<edu.wpi.first.units.measure.Voltage> getSupplyVoltage(boolean refresh)
      Measured supply voltage to the device.
      • Minimum Value: 4
      • Maximum Value: 29.575
      • Default Value: 4
      • Units: V
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyVoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SupplyVoltage Status Signal Object

    • getDeviceTemp

      public StatusSignal<edu.wpi.first.units.measure.Temperature> getDeviceTemp()
      Temperature of device.

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

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceTemp in interface HasTalonSignals
      Returns:
      DeviceTemp Status Signal Object

    • getDeviceTemp

      public StatusSignal<edu.wpi.first.units.measure.Temperature> getDeviceTemp(boolean refresh)
      Temperature of device.

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

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DeviceTemp Status Signal Object

    • getProcessorTemp

      public StatusSignal<edu.wpi.first.units.measure.Temperature> getProcessorTemp()
      Temperature of the processor.

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

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getProcessorTemp in interface HasTalonSignals
      Returns:
      ProcessorTemp Status Signal Object

    • getProcessorTemp

      public StatusSignal<edu.wpi.first.units.measure.Temperature> getProcessorTemp(boolean refresh)
      Temperature of the processor.

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

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getProcessorTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ProcessorTemp Status Signal Object

    • getRotorVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getRotorVelocity()
      Velocity of the motor rotor. This velocity is not affected by any feedback configs.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorVelocity in interface HasTalonSignals
      Returns:
      RotorVelocity Status Signal Object

    • getRotorVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getRotorVelocity(boolean refresh)
      Velocity of the motor rotor. This velocity is not affected by any feedback configs.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RotorVelocity Status Signal Object

    • getRotorPosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRotorPosition()
      Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorPosition in interface HasTalonSignals
      Returns:
      RotorPosition Status Signal Object

    • getRotorPosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getRotorPosition(boolean refresh)
      Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorPosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RotorPosition Status Signal Object

    • getVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getVelocity()
      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 Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVelocity in interface HasTalonSignals
      Returns:
      Velocity Status Signal Object

    • getVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getVelocity(boolean refresh)
      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 Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Velocity Status Signal Object

    • getPosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getPosition()
      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 Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getPosition in interface HasTalonSignals
      Returns:
      Position Status Signal Object

    • getPosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getPosition(boolean refresh)
      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 Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getPosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Position Status Signal Object

    • getAcceleration

      public StatusSignal<edu.wpi.first.units.measure.AngularAcceleration> getAcceleration()
      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 Value: 2047.75
      • Default Value: 0
      • Units: rotations per second²
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAcceleration in interface HasTalonSignals
      Returns:
      Acceleration Status Signal Object

    • getAcceleration

      public StatusSignal<edu.wpi.first.units.measure.AngularAcceleration> getAcceleration(boolean refresh)
      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 Value: 2047.75
      • Default Value: 0
      • Units: rotations per second²
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAcceleration in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Acceleration Status Signal Object

    • getControlMode

      public StatusSignal<ControlModeValue> getControlMode()
      The active control mode of the motor controller. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getControlMode in interface HasTalonSignals
      Returns:
      ControlMode Status Signal Object

    • getControlMode

      public StatusSignal<ControlModeValue> getControlMode(boolean refresh)
      The active control mode of the motor controller. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getControlMode in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ControlMode Status Signal Object

    • getMotionMagicIsRunning

      public StatusSignal<MotionMagicIsRunningValue> getMotionMagicIsRunning()
      Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotionMagicIsRunning in interface HasTalonSignals
      Returns:
      MotionMagicIsRunning Status Signal Object

    • getMotionMagicIsRunning

      public StatusSignal<MotionMagicIsRunningValue> getMotionMagicIsRunning(boolean refresh)
      Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotionMagicIsRunning in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotionMagicIsRunning Status Signal Object

    • getDeviceEnable

      public StatusSignal<DeviceEnableValue> getDeviceEnable()
      Indicates if device is actuator enabled. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceEnable in interface HasTalonSignals
      Returns:
      DeviceEnable Status Signal Object

    • getDeviceEnable

      public StatusSignal<DeviceEnableValue> getDeviceEnable(boolean refresh)
      Indicates if device is actuator enabled. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DeviceEnable Status Signal Object

    • getClosedLoopSlot

      public StatusSignal<Integer> getClosedLoopSlot()
      The slot that the closed-loop PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopSlot in interface HasTalonSignals
      Returns:
      ClosedLoopSlot Status Signal Object

    • getClosedLoopSlot

      public StatusSignal<Integer> getClosedLoopSlot(boolean refresh)
      The slot that the closed-loop PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopSlot in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopSlot Status Signal Object

    • getMotorOutputStatus

      public StatusSignal<MotorOutputStatusValue> getMotorOutputStatus()
      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 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorOutputStatus in interface HasTalonSignals
      Returns:
      MotorOutputStatus Status Signal Object

    • getMotorOutputStatus

      public StatusSignal<MotorOutputStatusValue> getMotorOutputStatus(boolean refresh)
      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 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorOutputStatus in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorOutputStatus Status Signal Object

    • getDifferentialControlMode

      public StatusSignal<DifferentialControlModeValue> getDifferentialControlMode()
      The active control mode of the differential controller. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialControlMode in interface HasTalonSignals
      Returns:
      DifferentialControlMode Status Signal Object

    • getDifferentialControlMode

      public StatusSignal<DifferentialControlModeValue> getDifferentialControlMode(boolean refresh)
      The active control mode of the differential controller. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialControlMode in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialControlMode Status Signal Object

    • getDifferentialAverageVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getDifferentialAverageVelocity()
      Average component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAverageVelocity in interface HasTalonSignals
      Returns:
      DifferentialAverageVelocity Status Signal Object

    • getDifferentialAverageVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getDifferentialAverageVelocity(boolean refresh)
      Average component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAverageVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialAverageVelocity Status Signal Object

    • getDifferentialAveragePosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getDifferentialAveragePosition()
      Average component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAveragePosition in interface HasTalonSignals
      Returns:
      DifferentialAveragePosition Status Signal Object

    • getDifferentialAveragePosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getDifferentialAveragePosition(boolean refresh)
      Average component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAveragePosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialAveragePosition Status Signal Object

    • getDifferentialDifferenceVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getDifferentialDifferenceVelocity()
      Difference component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferenceVelocity in interface HasTalonSignals
      Returns:
      DifferentialDifferenceVelocity Status Signal Object

    • getDifferentialDifferenceVelocity

      public StatusSignal<edu.wpi.first.units.measure.AngularVelocity> getDifferentialDifferenceVelocity(boolean refresh)
      Difference component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferenceVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialDifferenceVelocity Status Signal Object

    • getDifferentialDifferencePosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getDifferentialDifferencePosition()
      Difference component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferencePosition in interface HasTalonSignals
      Returns:
      DifferentialDifferencePosition Status Signal Object

    • getDifferentialDifferencePosition

      public StatusSignal<edu.wpi.first.units.measure.Angle> getDifferentialDifferencePosition(boolean refresh)
      Difference component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferencePosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialDifferencePosition Status Signal Object

    • getDifferentialClosedLoopSlot

      public StatusSignal<Integer> getDifferentialClosedLoopSlot()
      The slot that the closed-loop differential PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopSlot in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopSlot Status Signal Object

    • getDifferentialClosedLoopSlot

      public StatusSignal<Integer> getDifferentialClosedLoopSlot(boolean refresh)
      The slot that the closed-loop differential PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopSlot in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopSlot Status Signal Object

    • getMotorKT

      public StatusSignal<edu.wpi.first.units.measure.Per<TorqueUnit,CurrentUnit>> getMotorKT()
      The torque constant (K_T) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 0.025500000000000002
      • Default Value: 0
      • Units: Nm/A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKT in interface HasTalonSignals
      Returns:
      MotorKT Status Signal Object

    • getMotorKT

      public StatusSignal<edu.wpi.first.units.measure.Per<TorqueUnit,CurrentUnit>> getMotorKT(boolean refresh)
      The torque constant (K_T) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 0.025500000000000002
      • Default Value: 0
      • Units: Nm/A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKT in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorKT Status Signal Object

    • getMotorKV

      public StatusSignal<edu.wpi.first.units.measure.Per<AngularVelocityUnit,VoltageUnit>> getMotorKV()
      The velocity constant (K_V) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 2047.0
      • Default Value: 0
      • Units: RPM/V
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKV in interface HasTalonSignals
      Returns:
      MotorKV Status Signal Object

    • getMotorKV

      public StatusSignal<edu.wpi.first.units.measure.Per<AngularVelocityUnit,VoltageUnit>> getMotorKV(boolean refresh)
      The velocity constant (K_V) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 2047.0
      • Default Value: 0
      • Units: RPM/V
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorKV Status Signal Object

    • getMotorStallCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getMotorStallCurrent()
      The stall current of the motor at 12 V output.
      • Minimum Value: 0.0
      • Maximum Value: 1023.0
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorStallCurrent in interface HasTalonSignals
      Returns:
      MotorStallCurrent Status Signal Object

    • getMotorStallCurrent

      public StatusSignal<edu.wpi.first.units.measure.Current> getMotorStallCurrent(boolean refresh)
      The stall current of the motor at 12 V output.
      • Minimum Value: 0.0
      • Maximum Value: 1023.0
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorStallCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorStallCurrent Status Signal Object

    • getBridgeOutput

      public StatusSignal<BridgeOutputValue> getBridgeOutput()
      The applied output of the bridge. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getBridgeOutput in interface HasTalonSignals
      Returns:
      BridgeOutput Status Signal Object

    • getBridgeOutput

      public StatusSignal<BridgeOutputValue> getBridgeOutput(boolean refresh)
      The applied output of the bridge. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getBridgeOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      BridgeOutput Status Signal Object

    • getIsProLicensed

      public StatusSignal<Boolean> getIsProLicensed()
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getIsProLicensed in interface HasTalonSignals
      Returns:
      IsProLicensed Status Signal Object

    • getIsProLicensed

      public StatusSignal<Boolean> getIsProLicensed(boolean refresh)
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getIsProLicensed in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      IsProLicensed Status Signal Object

    • getAncillaryDeviceTemp

      public StatusSignal<edu.wpi.first.units.measure.Temperature> getAncillaryDeviceTemp()
      Temperature of device from second sensor.

      Newer versions of Talon have multiple temperature measurement methods.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAncillaryDeviceTemp in interface HasTalonSignals
      Returns:
      AncillaryDeviceTemp Status Signal Object

    • getAncillaryDeviceTemp

      public StatusSignal<edu.wpi.first.units.measure.Temperature> getAncillaryDeviceTemp(boolean refresh)
      Temperature of device from second sensor.

      Newer versions of Talon have multiple temperature measurement methods.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAncillaryDeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AncillaryDeviceTemp Status Signal Object

    • getConnectedMotor

      public StatusSignal<ConnectedMotorValue> getConnectedMotor()
      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 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getConnectedMotor in interface HasTalonSignals
      Returns:
      ConnectedMotor Status Signal Object

    • getConnectedMotor

      public StatusSignal<ConnectedMotorValue> getConnectedMotor(boolean refresh)
      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 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getConnectedMotor in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ConnectedMotor Status Signal Object

    • getFault_Hardware

      public StatusSignal<Boolean> getFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Hardware in interface HasTalonSignals
      Returns:
      Fault_Hardware Status Signal Object

    • getFault_Hardware

      public StatusSignal<Boolean> getFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Hardware in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public StatusSignal<Boolean> getStickyFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Hardware in interface HasTalonSignals
      Returns:
      StickyFault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public StatusSignal<Boolean> getStickyFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Hardware in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Hardware Status Signal Object

    • getFault_ProcTemp

      public StatusSignal<Boolean> getFault_ProcTemp()
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ProcTemp in interface HasTalonSignals
      Returns:
      Fault_ProcTemp Status Signal Object

    • getFault_ProcTemp

      public StatusSignal<Boolean> getFault_ProcTemp(boolean refresh)
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ProcTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ProcTemp Status Signal Object

    • getStickyFault_ProcTemp

      public StatusSignal<Boolean> getStickyFault_ProcTemp()
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ProcTemp in interface HasTalonSignals
      Returns:
      StickyFault_ProcTemp Status Signal Object

    • getStickyFault_ProcTemp

      public StatusSignal<Boolean> getStickyFault_ProcTemp(boolean refresh)
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ProcTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ProcTemp Status Signal Object

    • getFault_DeviceTemp

      public StatusSignal<Boolean> getFault_DeviceTemp()
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_DeviceTemp in interface HasTalonSignals
      Returns:
      Fault_DeviceTemp Status Signal Object

    • getFault_DeviceTemp

      public StatusSignal<Boolean> getFault_DeviceTemp(boolean refresh)
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_DeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_DeviceTemp Status Signal Object

    • getStickyFault_DeviceTemp

      public StatusSignal<Boolean> getStickyFault_DeviceTemp()
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_DeviceTemp in interface HasTalonSignals
      Returns:
      StickyFault_DeviceTemp Status Signal Object

    • getStickyFault_DeviceTemp

      public StatusSignal<Boolean> getStickyFault_DeviceTemp(boolean refresh)
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_DeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_DeviceTemp Status Signal Object

    • getFault_Undervoltage

      public StatusSignal<Boolean> getFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Undervoltage in interface HasTalonSignals
      Returns:
      Fault_Undervoltage Status Signal Object

    • getFault_Undervoltage

      public StatusSignal<Boolean> getFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Undervoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public StatusSignal<Boolean> getStickyFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Undervoltage in interface HasTalonSignals
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public StatusSignal<Boolean> getStickyFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Undervoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getFault_BootDuringEnable

      public StatusSignal<Boolean> getFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BootDuringEnable in interface HasTalonSignals
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getFault_BootDuringEnable

      public StatusSignal<Boolean> getFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BootDuringEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public StatusSignal<Boolean> getStickyFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BootDuringEnable in interface HasTalonSignals
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public StatusSignal<Boolean> getStickyFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BootDuringEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getFault_BridgeBrownout

      public StatusSignal<Boolean> getFault_BridgeBrownout()
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BridgeBrownout in interface HasTalonSignals
      Returns:
      Fault_BridgeBrownout Status Signal Object

    • getFault_BridgeBrownout

      public StatusSignal<Boolean> getFault_BridgeBrownout(boolean refresh)
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BridgeBrownout in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BridgeBrownout Status Signal Object

    • getStickyFault_BridgeBrownout

      public StatusSignal<Boolean> getStickyFault_BridgeBrownout()
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BridgeBrownout in interface HasTalonSignals
      Returns:
      StickyFault_BridgeBrownout Status Signal Object

    • getStickyFault_BridgeBrownout

      public StatusSignal<Boolean> getStickyFault_BridgeBrownout(boolean refresh)
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BridgeBrownout in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BridgeBrownout Status Signal Object

    • getFault_RemoteSensorReset

      public StatusSignal<Boolean> getFault_RemoteSensorReset()
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorReset in interface HasTalonSignals
      Returns:
      Fault_RemoteSensorReset Status Signal Object

    • getFault_RemoteSensorReset

      public StatusSignal<Boolean> getFault_RemoteSensorReset(boolean refresh)
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorReset in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_RemoteSensorReset Status Signal Object

    • getStickyFault_RemoteSensorReset

      public StatusSignal<Boolean> getStickyFault_RemoteSensorReset()
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorReset in interface HasTalonSignals
      Returns:
      StickyFault_RemoteSensorReset Status Signal Object

    • getStickyFault_RemoteSensorReset

      public StatusSignal<Boolean> getStickyFault_RemoteSensorReset(boolean refresh)
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorReset in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_RemoteSensorReset Status Signal Object

    • getFault_MissingDifferentialFX

      public StatusSignal<Boolean> getFault_MissingDifferentialFX()
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingDifferentialFX in interface HasTalonSignals
      Returns:
      Fault_MissingDifferentialFX Status Signal Object

    • getFault_MissingDifferentialFX

      public StatusSignal<Boolean> getFault_MissingDifferentialFX(boolean refresh)
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingDifferentialFX in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MissingDifferentialFX Status Signal Object

    • getStickyFault_MissingDifferentialFX

      public StatusSignal<Boolean> getStickyFault_MissingDifferentialFX()
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Returns:
      StickyFault_MissingDifferentialFX Status Signal Object

    • getStickyFault_MissingDifferentialFX

      public StatusSignal<Boolean> getStickyFault_MissingDifferentialFX(boolean refresh)
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MissingDifferentialFX Status Signal Object

    • getFault_RemoteSensorPosOverflow

      public StatusSignal<Boolean> getFault_RemoteSensorPosOverflow()
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Returns:
      Fault_RemoteSensorPosOverflow Status Signal Object

    • getFault_RemoteSensorPosOverflow

      public StatusSignal<Boolean> getFault_RemoteSensorPosOverflow(boolean refresh)
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_RemoteSensorPosOverflow Status Signal Object

    • getStickyFault_RemoteSensorPosOverflow

      public StatusSignal<Boolean> getStickyFault_RemoteSensorPosOverflow()
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Returns:
      StickyFault_RemoteSensorPosOverflow Status Signal Object

    • getStickyFault_RemoteSensorPosOverflow

      public StatusSignal<Boolean> getStickyFault_RemoteSensorPosOverflow(boolean refresh)
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_RemoteSensorPosOverflow Status Signal Object

    • getFault_OverSupplyV

      public StatusSignal<Boolean> getFault_OverSupplyV()
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_OverSupplyV in interface HasTalonSignals
      Returns:
      Fault_OverSupplyV Status Signal Object

    • getFault_OverSupplyV

      public StatusSignal<Boolean> getFault_OverSupplyV(boolean refresh)
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_OverSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_OverSupplyV Status Signal Object

    • getStickyFault_OverSupplyV

      public StatusSignal<Boolean> getStickyFault_OverSupplyV()
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_OverSupplyV in interface HasTalonSignals
      Returns:
      StickyFault_OverSupplyV Status Signal Object

    • getStickyFault_OverSupplyV

      public StatusSignal<Boolean> getStickyFault_OverSupplyV(boolean refresh)
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_OverSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_OverSupplyV Status Signal Object

    • getFault_UnstableSupplyV

      public StatusSignal<Boolean> getFault_UnstableSupplyV()
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnstableSupplyV in interface HasTalonSignals
      Returns:
      Fault_UnstableSupplyV Status Signal Object

    • getFault_UnstableSupplyV

      public StatusSignal<Boolean> getFault_UnstableSupplyV(boolean refresh)
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnstableSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UnstableSupplyV Status Signal Object

    • getStickyFault_UnstableSupplyV

      public StatusSignal<Boolean> getStickyFault_UnstableSupplyV()
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnstableSupplyV in interface HasTalonSignals
      Returns:
      StickyFault_UnstableSupplyV Status Signal Object

    • getStickyFault_UnstableSupplyV

      public StatusSignal<Boolean> getStickyFault_UnstableSupplyV(boolean refresh)
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnstableSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UnstableSupplyV Status Signal Object

    • getFault_ReverseHardLimit

      public StatusSignal<Boolean> getFault_ReverseHardLimit()
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseHardLimit in interface HasTalonSignals
      Returns:
      Fault_ReverseHardLimit Status Signal Object

    • getFault_ReverseHardLimit

      public StatusSignal<Boolean> getFault_ReverseHardLimit(boolean refresh)
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ReverseHardLimit Status Signal Object

    • getStickyFault_ReverseHardLimit

      public StatusSignal<Boolean> getStickyFault_ReverseHardLimit()
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseHardLimit in interface HasTalonSignals
      Returns:
      StickyFault_ReverseHardLimit Status Signal Object

    • getStickyFault_ReverseHardLimit

      public StatusSignal<Boolean> getStickyFault_ReverseHardLimit(boolean refresh)
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ReverseHardLimit Status Signal Object

    • getFault_ForwardHardLimit

      public StatusSignal<Boolean> getFault_ForwardHardLimit()
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardHardLimit in interface HasTalonSignals
      Returns:
      Fault_ForwardHardLimit Status Signal Object

    • getFault_ForwardHardLimit

      public StatusSignal<Boolean> getFault_ForwardHardLimit(boolean refresh)
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ForwardHardLimit Status Signal Object

    • getStickyFault_ForwardHardLimit

      public StatusSignal<Boolean> getStickyFault_ForwardHardLimit()
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardHardLimit in interface HasTalonSignals
      Returns:
      StickyFault_ForwardHardLimit Status Signal Object

    • getStickyFault_ForwardHardLimit

      public StatusSignal<Boolean> getStickyFault_ForwardHardLimit(boolean refresh)
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ForwardHardLimit Status Signal Object

    • getFault_ReverseSoftLimit

      public StatusSignal<Boolean> getFault_ReverseSoftLimit()
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseSoftLimit in interface HasTalonSignals
      Returns:
      Fault_ReverseSoftLimit Status Signal Object

    • getFault_ReverseSoftLimit

      public StatusSignal<Boolean> getFault_ReverseSoftLimit(boolean refresh)
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ReverseSoftLimit Status Signal Object

    • getStickyFault_ReverseSoftLimit

      public StatusSignal<Boolean> getStickyFault_ReverseSoftLimit()
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Returns:
      StickyFault_ReverseSoftLimit Status Signal Object

    • getStickyFault_ReverseSoftLimit

      public StatusSignal<Boolean> getStickyFault_ReverseSoftLimit(boolean refresh)
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ReverseSoftLimit Status Signal Object

    • getFault_ForwardSoftLimit

      public StatusSignal<Boolean> getFault_ForwardSoftLimit()
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardSoftLimit in interface HasTalonSignals
      Returns:
      Fault_ForwardSoftLimit Status Signal Object

    • getFault_ForwardSoftLimit

      public StatusSignal<Boolean> getFault_ForwardSoftLimit(boolean refresh)
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ForwardSoftLimit Status Signal Object

    • getStickyFault_ForwardSoftLimit

      public StatusSignal<Boolean> getStickyFault_ForwardSoftLimit()
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Returns:
      StickyFault_ForwardSoftLimit Status Signal Object

    • getStickyFault_ForwardSoftLimit

      public StatusSignal<Boolean> getStickyFault_ForwardSoftLimit(boolean refresh)
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ForwardSoftLimit Status Signal Object

    • getFault_MissingSoftLimitRemote

      public StatusSignal<Boolean> getFault_MissingSoftLimitRemote()
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingSoftLimitRemote in interface HasTalonSignals
      Returns:
      Fault_MissingSoftLimitRemote Status Signal Object

    • getFault_MissingSoftLimitRemote

      public StatusSignal<Boolean> getFault_MissingSoftLimitRemote(boolean refresh)
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingSoftLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MissingSoftLimitRemote Status Signal Object

    • getStickyFault_MissingSoftLimitRemote

      public StatusSignal<Boolean> getStickyFault_MissingSoftLimitRemote()
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Returns:
      StickyFault_MissingSoftLimitRemote Status Signal Object

    • getStickyFault_MissingSoftLimitRemote

      public StatusSignal<Boolean> getStickyFault_MissingSoftLimitRemote(boolean refresh)
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MissingSoftLimitRemote Status Signal Object

    • getFault_MissingHardLimitRemote

      public StatusSignal<Boolean> getFault_MissingHardLimitRemote()
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingHardLimitRemote in interface HasTalonSignals
      Returns:
      Fault_MissingHardLimitRemote Status Signal Object

    • getFault_MissingHardLimitRemote

      public StatusSignal<Boolean> getFault_MissingHardLimitRemote(boolean refresh)
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingHardLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MissingHardLimitRemote Status Signal Object

    • getStickyFault_MissingHardLimitRemote

      public StatusSignal<Boolean> getStickyFault_MissingHardLimitRemote()
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Returns:
      StickyFault_MissingHardLimitRemote Status Signal Object

    • getStickyFault_MissingHardLimitRemote

      public StatusSignal<Boolean> getStickyFault_MissingHardLimitRemote(boolean refresh)
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MissingHardLimitRemote Status Signal Object

    • getFault_RemoteSensorDataInvalid

      public StatusSignal<Boolean> getFault_RemoteSensorDataInvalid()
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Returns:
      Fault_RemoteSensorDataInvalid Status Signal Object

    • getFault_RemoteSensorDataInvalid

      public StatusSignal<Boolean> getFault_RemoteSensorDataInvalid(boolean refresh)
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_RemoteSensorDataInvalid Status Signal Object

    • getStickyFault_RemoteSensorDataInvalid

      public StatusSignal<Boolean> getStickyFault_RemoteSensorDataInvalid()
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Returns:
      StickyFault_RemoteSensorDataInvalid Status Signal Object

    • getStickyFault_RemoteSensorDataInvalid

      public StatusSignal<Boolean> getStickyFault_RemoteSensorDataInvalid(boolean refresh)
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_RemoteSensorDataInvalid Status Signal Object

    • getFault_FusedSensorOutOfSync

      public StatusSignal<Boolean> getFault_FusedSensorOutOfSync()
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_FusedSensorOutOfSync in interface HasTalonSignals
      Returns:
      Fault_FusedSensorOutOfSync Status Signal Object

    • getFault_FusedSensorOutOfSync

      public StatusSignal<Boolean> getFault_FusedSensorOutOfSync(boolean refresh)
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_FusedSensorOutOfSync in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_FusedSensorOutOfSync Status Signal Object

    • getStickyFault_FusedSensorOutOfSync

      public StatusSignal<Boolean> getStickyFault_FusedSensorOutOfSync()
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Returns:
      StickyFault_FusedSensorOutOfSync Status Signal Object

    • getStickyFault_FusedSensorOutOfSync

      public StatusSignal<Boolean> getStickyFault_FusedSensorOutOfSync(boolean refresh)
      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 Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_FusedSensorOutOfSync Status Signal Object

    • getFault_StatorCurrLimit

      public StatusSignal<Boolean> getFault_StatorCurrLimit()
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StatorCurrLimit in interface HasTalonSignals
      Returns:
      Fault_StatorCurrLimit Status Signal Object

    • getFault_StatorCurrLimit

      public StatusSignal<Boolean> getFault_StatorCurrLimit(boolean refresh)
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StatorCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_StatorCurrLimit Status Signal Object

    • getStickyFault_StatorCurrLimit

      public StatusSignal<Boolean> getStickyFault_StatorCurrLimit()
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StatorCurrLimit in interface HasTalonSignals
      Returns:
      StickyFault_StatorCurrLimit Status Signal Object

    • getStickyFault_StatorCurrLimit

      public StatusSignal<Boolean> getStickyFault_StatorCurrLimit(boolean refresh)
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StatorCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_StatorCurrLimit Status Signal Object

    • getFault_SupplyCurrLimit

      public StatusSignal<Boolean> getFault_SupplyCurrLimit()
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_SupplyCurrLimit in interface HasTalonSignals
      Returns:
      Fault_SupplyCurrLimit Status Signal Object

    • getFault_SupplyCurrLimit

      public StatusSignal<Boolean> getFault_SupplyCurrLimit(boolean refresh)
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_SupplyCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_SupplyCurrLimit Status Signal Object

    • getStickyFault_SupplyCurrLimit

      public StatusSignal<Boolean> getStickyFault_SupplyCurrLimit()
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Returns:
      StickyFault_SupplyCurrLimit Status Signal Object

    • getStickyFault_SupplyCurrLimit

      public StatusSignal<Boolean> getStickyFault_SupplyCurrLimit(boolean refresh)
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_SupplyCurrLimit Status Signal Object

    • getFault_UsingFusedCANcoderWhileUnlicensed

      public StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed()
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Returns:
      Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getFault_UsingFusedCANcoderWhileUnlicensed

      public StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed(boolean refresh)
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getStickyFault_UsingFusedCANcoderWhileUnlicensed

      public StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed()
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Returns:
      StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getStickyFault_UsingFusedCANcoderWhileUnlicensed

      public StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed(boolean refresh)
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getFault_StaticBrakeDisabled

      public StatusSignal<Boolean> getFault_StaticBrakeDisabled()
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StaticBrakeDisabled in interface HasTalonSignals
      Returns:
      Fault_StaticBrakeDisabled Status Signal Object

    • getFault_StaticBrakeDisabled

      public StatusSignal<Boolean> getFault_StaticBrakeDisabled(boolean refresh)
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StaticBrakeDisabled in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_StaticBrakeDisabled Status Signal Object

    • getStickyFault_StaticBrakeDisabled

      public StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled()
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Returns:
      StickyFault_StaticBrakeDisabled Status Signal Object

    • getStickyFault_StaticBrakeDisabled

      public StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled(boolean refresh)
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_StaticBrakeDisabled Status Signal Object

    • getClosedLoopProportionalOutput

      public StatusSignal<Double> getClosedLoopProportionalOutput()
      Closed loop proportional component

      The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopProportionalOutput in interface HasTalonSignals
      Returns:
      ClosedLoopProportionalOutput Status Signal object

    • getClosedLoopProportionalOutput

      public StatusSignal<Double> getClosedLoopProportionalOutput(boolean refresh)
      Closed loop proportional component

      The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopProportionalOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopProportionalOutput Status Signal object

    • getClosedLoopIntegratedOutput

      public StatusSignal<Double> getClosedLoopIntegratedOutput()
      Closed loop integrated component

      The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopIntegratedOutput in interface HasTalonSignals
      Returns:
      ClosedLoopIntegratedOutput Status Signal object

    • getClosedLoopIntegratedOutput

      public StatusSignal<Double> getClosedLoopIntegratedOutput(boolean refresh)
      Closed loop integrated component

      The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopIntegratedOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopIntegratedOutput Status Signal object

    • getClosedLoopFeedForward

      public StatusSignal<Double> getClosedLoopFeedForward()
      Feedforward passed by the user

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

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopFeedForward in interface HasTalonSignals
      Returns:
      ClosedLoopFeedForward Status Signal object

    • getClosedLoopFeedForward

      public StatusSignal<Double> getClosedLoopFeedForward(boolean refresh)
      Feedforward passed by the user

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

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopFeedForward in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopFeedForward Status Signal object

    • getClosedLoopDerivativeOutput

      public StatusSignal<Double> getClosedLoopDerivativeOutput()
      Closed loop derivative component

      The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopDerivativeOutput in interface HasTalonSignals
      Returns:
      ClosedLoopDerivativeOutput Status Signal object

    • getClosedLoopDerivativeOutput

      public StatusSignal<Double> getClosedLoopDerivativeOutput(boolean refresh)
      Closed loop derivative component

      The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopDerivativeOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopDerivativeOutput Status Signal object

    • getClosedLoopOutput

      public StatusSignal<Double> getClosedLoopOutput()
      Closed loop total output

      The total output of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopOutput in interface HasTalonSignals
      Returns:
      ClosedLoopOutput Status Signal object

    • getClosedLoopOutput

      public StatusSignal<Double> getClosedLoopOutput(boolean refresh)
      Closed loop total output

      The total output of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopOutput Status Signal object

    • getClosedLoopReference

      public StatusSignal<Double> getClosedLoopReference()
      Value that the closed loop is targeting

      This is the value that the closed loop PID controller targets. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReference in interface HasTalonSignals
      Returns:
      ClosedLoopReference Status Signal object

    • getClosedLoopReference

      public StatusSignal<Double> getClosedLoopReference(boolean refresh)
      Value that the closed loop is targeting

      This is the value that the closed loop PID controller targets. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReference in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopReference Status Signal object

    • getClosedLoopReferenceSlope

      public StatusSignal<Double> getClosedLoopReferenceSlope()
      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®. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReferenceSlope in interface HasTalonSignals
      Returns:
      ClosedLoopReferenceSlope Status Signal object

    • getClosedLoopReferenceSlope

      public StatusSignal<Double> getClosedLoopReferenceSlope(boolean refresh)
      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®. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReferenceSlope in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopReferenceSlope Status Signal object

    • getClosedLoopError

      public StatusSignal<Double> getClosedLoopError()
      The difference between target reference and current measurement

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

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopError in interface HasTalonSignals
      Returns:
      ClosedLoopError Status Signal object

    • getClosedLoopError

      public StatusSignal<Double> getClosedLoopError(boolean refresh)
      The difference between target reference and current measurement

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

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopError in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopError Status Signal object

    • getDifferentialOutput

      public StatusSignal<Double> getDifferentialOutput()
      The calculated motor output for differential followers.

      This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialOutput in interface HasTalonSignals
      Returns:
      DifferentialOutput Status Signal object

    • getDifferentialOutput

      public StatusSignal<Double> getDifferentialOutput(boolean refresh)
      The calculated motor output for differential followers.

      This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialOutput Status Signal object

    • getDifferentialClosedLoopProportionalOutput

      public StatusSignal<Double> getDifferentialClosedLoopProportionalOutput()
      Differential closed loop proportional component

      The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopProportionalOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopProportionalOutput Status Signal object

    • getDifferentialClosedLoopProportionalOutput

      public StatusSignal<Double> getDifferentialClosedLoopProportionalOutput(boolean refresh)
      Differential closed loop proportional component

      The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopProportionalOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopProportionalOutput Status Signal object

    • getDifferentialClosedLoopIntegratedOutput

      public StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput()
      Differential closed loop integrated component

      The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopIntegratedOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopIntegratedOutput Status Signal object

    • getDifferentialClosedLoopIntegratedOutput

      public StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput(boolean refresh)
      Differential closed loop integrated component

      The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopIntegratedOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopIntegratedOutput Status Signal object

    • getDifferentialClosedLoopFeedForward

      public StatusSignal<Double> getDifferentialClosedLoopFeedForward()
      Differential Feedforward passed by the user

      This is the general feedforward that the user provides for the differential closed loop. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopFeedForward in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopFeedForward Status Signal object

    • getDifferentialClosedLoopFeedForward

      public StatusSignal<Double> getDifferentialClosedLoopFeedForward(boolean refresh)
      Differential Feedforward passed by the user

      This is the general feedforward that the user provides for the differential closed loop. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopFeedForward in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopFeedForward Status Signal object

    • getDifferentialClosedLoopDerivativeOutput

      public StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput()
      Differential closed loop derivative component

      The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopDerivativeOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopDerivativeOutput Status Signal object

    • getDifferentialClosedLoopDerivativeOutput

      public StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput(boolean refresh)
      Differential closed loop derivative component

      The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopDerivativeOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopDerivativeOutput Status Signal object

    • getDifferentialClosedLoopOutput

      public StatusSignal<Double> getDifferentialClosedLoopOutput()
      Differential closed loop total output

      The total output of the differential closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopOutput Status Signal object

    • getDifferentialClosedLoopOutput

      public StatusSignal<Double> getDifferentialClosedLoopOutput(boolean refresh)
      Differential closed loop total output

      The total output of the differential closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopOutput Status Signal object

    • getDifferentialClosedLoopReference

      public StatusSignal<Double> getDifferentialClosedLoopReference()
      Value that the differential closed loop is targeting

      This is the value that the differential closed loop PID controller targets. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReference in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopReference Status Signal object

    • getDifferentialClosedLoopReference

      public StatusSignal<Double> getDifferentialClosedLoopReference(boolean refresh)
      Value that the differential closed loop is targeting

      This is the value that the differential closed loop PID controller targets. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReference in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopReference Status Signal object

    • getDifferentialClosedLoopReferenceSlope

      public StatusSignal<Double> getDifferentialClosedLoopReferenceSlope()
      Derivative of the target that the differential 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®. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReferenceSlope in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopReferenceSlope Status Signal object

    • getDifferentialClosedLoopReferenceSlope

      public StatusSignal<Double> getDifferentialClosedLoopReferenceSlope(boolean refresh)
      Derivative of the target that the differential 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®. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReferenceSlope in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopReferenceSlope Status Signal object

    • getDifferentialClosedLoopError

      public StatusSignal<Double> getDifferentialClosedLoopError()
      The difference between target differential reference and current measurement

      This is the value that is treated as the error in the differential PID loop. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopError in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopError Status Signal object

    • getDifferentialClosedLoopError

      public StatusSignal<Double> getDifferentialClosedLoopError(boolean refresh)
      The difference between target differential reference and current measurement

      This is the value that is treated as the error in the differential PID loop. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopError in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopError Status Signal object

    • setControl

      public StatusCode setControl(DutyCycleOut request)
      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:
        • Output: Proportion of supply voltage to apply in fractional units between -1 and +1
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(TorqueCurrentFOC request)
      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:
        • Output: Amount of motor current in Amperes
        • MaxAbsDutyCycle: The 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.
        • Deadband: Deadband 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.
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(VoltageOut request)
      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:
        • Output: Voltage to attempt to drive at
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(PositionDutyCycle request)
      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:
        • Position: Position to drive toward in rotations.
        • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1.
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(PositionVoltage request)
      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:
        • Position: Position to drive toward in rotations.
        • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in volts
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(PositionTorqueCurrentFOC request)
      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:
        • Position: Position to drive toward in rotations.
        • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
        • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
        • Slot: Select 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].
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(VelocityDutyCycle request)
      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:
        • Velocity: Velocity to drive toward in rotations per second.
        • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1.
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(VelocityVoltage request)
      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:
        • Velocity: Velocity to drive toward in rotations per second.
        • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in volts
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(VelocityTorqueCurrentFOC request)
      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:
        • Velocity: Velocity to drive toward in rotations per second.
        • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
        • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
        • Slot: Select 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].
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicDutyCycle request)
      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:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1.
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicVoltage request)
      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:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in volts
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicTorqueCurrentFOC request)
      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:
        • Position: Position to drive toward in rotations.
        • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
        • Slot: Select 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].
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialDutyCycle request)
      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:
        • TargetOutput: Proportion of supply voltage to apply in fractional units between -1 and +1
        • DifferentialPosition: Differential position to drive towards in rotations
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialVoltage request)
      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:
        • TargetOutput: Voltage to attempt to drive at
        • DifferentialPosition: Differential position to drive towards in rotations
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialPositionDutyCycle request)
      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:
        • TargetPosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • TargetSlot: Select which gains are applied to the primary 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].
        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialPositionVoltage request)
      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:
        • TargetPosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • TargetSlot: Select which gains are applied to the primary 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].
        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialVelocityDutyCycle request)
      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:
        • TargetVelocity: Average velocity to drive toward in rotations per second.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • TargetSlot: Select which gains are applied to the primary 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].
        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialVelocityVoltage request)
      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:
        • TargetVelocity: Average velocity to drive toward in rotations per second.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • TargetSlot: Select which gains are applied to the primary 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].
        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialMotionMagicDutyCycle request)
      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:
        • TargetPosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • TargetSlot: Select which gains are applied to the primary 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].
        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialMotionMagicVoltage request)
      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:
        • TargetPosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • TargetSlot: Select which gains are applied to the primary 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].
        • DifferentialSlot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(Follower request)
      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 percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

      • Follower Parameters:
        • MasterID: Device ID of the master to follow.
        • OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(StrictFollower request)
      Follow the motor output of another Talon while ignoring the master's invert setting.

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

      • StrictFollower Parameters:
        • MasterID: Device ID of the master to follow.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialFollower request)
      Follow the differential 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 percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

      • DifferentialFollower Parameters:
        • MasterID: Device ID of the differential master to follow.
        • OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DifferentialStrictFollower request)
      Follow the differential motor output of another Talon while ignoring the master's invert setting.

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

      • DifferentialStrictFollower Parameters:
        • MasterID: Device ID of the differential master to follow.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(NeutralOut request)
      Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration.
      • NeutralOut Parameters:
        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(CoastOut request)
      Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast.
      • CoastOut Parameters:
        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(StaticBrake request)
      Applies full neutral-brake by shorting motor leads together.
      • StaticBrake Parameters:
        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MusicTone request)
      Plays a single tone at the user specified frequency.
      • MusicTone Parameters:
        • AudioFrequency: Sound 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.
      Specified by:
      setControl in interface SupportsMusic
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicVelocityDutyCycle request)
      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:
        • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
        • Acceleration: This 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.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1.
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicVelocityTorqueCurrentFOC request)
      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:
        • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
        • Acceleration: This 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.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
        • Slot: Select 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].
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicVelocityVoltage request)
      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:
        • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
        • Acceleration: This 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.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in volts
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicExpoDutyCycle request)
      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:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1.
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicExpoVoltage request)
      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:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in volts
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(MotionMagicExpoTorqueCurrentFOC request)
      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:
        • Position: Position to drive toward in rotations.
        • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
        • Slot: Select 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].
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DynamicMotionMagicDutyCycle request)
      Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.

      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:
        • Position: Position to drive toward in rotations.
        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation
        • Jerk: Jerk 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.

        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1.
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DynamicMotionMagicVoltage request)
      Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a voltage feedforward. This control requires use of a CANivore.

      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:
        • Position: Position to drive toward in rotations.
        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Jerk: Jerk 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.

        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

        • FeedForward: Feedforward to apply in volts
        • Slot: Select 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].
        • OverrideBrakeDurNeutral: Set 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.
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(DynamicMotionMagicTorqueCurrentFOC request)
      Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

      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:
        • Position: Position to drive toward in rotations.
        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Jerk: Jerk 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.

        • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
        • Slot: Select 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].
        • OverrideCoastDurNeutral: Set 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).
        • LimitForwardMotion: Set 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.
        • LimitReverseMotion: Set 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.
        • IgnoreHardwareLimits: Set 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.

        • UseTimesync: Set 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.

      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_DutyCycleOut_Position request)
      Differential control with duty cycle average target and position difference target.
      • Diff_DutyCycleOut_Position Parameters:
        • AverageRequest: Average DutyCycleOut request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionDutyCycle_Position request)
      Differential control with position average target and position difference target using dutycycle control.
      • Diff_PositionDutyCycle_Position Parameters:
        • AverageRequest: Average PositionDutyCycle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityDutyCycle_Position request)
      Differential control with velocity average target and position difference target using dutycycle control.
      • Diff_VelocityDutyCycle_Position Parameters:
        • AverageRequest: Average VelocityDutyCYcle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicDutyCycle_Position request)
      Differential control with Motion Magic® average target and position difference target using dutycycle control.
      • Diff_MotionMagicDutyCycle_Position Parameters:
        • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_DutyCycleOut_Velocity request)
      Differential control with duty cycle average target and velocity difference target.
      • Diff_DutyCycleOut_Velocity Parameters:
        • AverageRequest: Average DutyCycleOut request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionDutyCycle_Velocity request)
      Differential control with position average target and velocity difference target using dutycycle control.
      • Diff_PositionDutyCycle_Velocity Parameters:
        • AverageRequest: Average PositionDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityDutyCycle_Velocity request)
      Differential control with velocity average target and velocity difference target using dutycycle control.
      • Diff_VelocityDutyCycle_Velocity Parameters:
        • AverageRequest: Average VelocityDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicDutyCycle_Velocity request)
      Differential control with Motion Magic® average target and velocity difference target using dutycycle control.
      • Diff_MotionMagicDutyCycle_Velocity Parameters:
        • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VoltageOut_Position request)
      Differential control with voltage average target and position difference target.
      • Diff_VoltageOut_Position Parameters:
        • AverageRequest: Average VoltageOut request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionVoltage_Position request)
      Differential control with position average target and position difference target using voltage control.
      • Diff_PositionVoltage_Position Parameters:
        • AverageRequest: Average PositionVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityVoltage_Position request)
      Differential control with velocity average target and position difference target using voltage control.
      • Diff_VelocityVoltage_Position Parameters:
        • AverageRequest: Average VelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVoltage_Position request)
      Differential control with Motion Magic® average target and position difference target using voltage control.
      • Diff_MotionMagicVoltage_Position Parameters:
        • AverageRequest: Average MotionMagicVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VoltageOut_Velocity request)
      Differential control with voltage average target and velocity difference target.
      • Diff_VoltageOut_Velocity Parameters:
        • AverageRequest: Average VoltageOut request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionVoltage_Velocity request)
      Differential control with position average target and velocity difference target using voltage control.
      • Diff_PositionVoltage_Velocity Parameters:
        • AverageRequest: Average PositionVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityVoltage_Velocity request)
      Differential control with velocity average target and velocity difference target using voltage control.
      • Diff_VelocityVoltage_Velocity Parameters:
        • AverageRequest: Average VelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVoltage_Velocity request)
      Differential control with Motion Magic® average target and velocity difference target using voltage control.
      • Diff_MotionMagicVoltage_Velocity Parameters:
        • AverageRequest: Average MotionMagicVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_TorqueCurrentFOC_Position request)
      Differential control with torque current average target and position difference target.
      • Diff_TorqueCurrentFOC_Position Parameters:
        • AverageRequest: Average TorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionTorqueCurrentFOC_Position request)
      Differential control with position average target and position difference target using torque current control.
      • Diff_PositionTorqueCurrentFOC_Position Parameters:
        • AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityTorqueCurrentFOC_Position request)
      Differential control with velocity average target and position difference target using torque current control.
      • Diff_VelocityTorqueCurrentFOC_Position Parameters:
        • AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_Position request)
      Differential control with Motion Magic® average target and position difference target using torque current control.
      • Diff_MotionMagicTorqueCurrentFOC_Position Parameters:
        • AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_TorqueCurrentFOC_Velocity request)
      Differential control with torque current average target and velocity difference target.
      • Diff_TorqueCurrentFOC_Velocity Parameters:
        • AverageRequest: Average TorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionTorqueCurrentFOC_Velocity request)
      Differential control with position average target and velocity difference target using torque current control.
      • Diff_PositionTorqueCurrentFOC_Velocity Parameters:
        • AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityTorqueCurrentFOC_Velocity request)
      Differential control with velocity average target and velocity difference target using torque current control.
      • Diff_VelocityTorqueCurrentFOC_Velocity Parameters:
        • AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_Velocity request)
      Differential control with Motion Magic® average target and velocity difference target using torque current control.
      • Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters:
        • AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
        • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
      Specified by:
      setControl in interface SupportsFOC
      Parameters:
      request - Control object to request of the device
      Returns:
      Code response of the request

    • setControl

      public StatusCode setControl(ControlRequest request)
      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

      Specified by:
      setControl in interface HasTalonControls
      Specified by:
      setControl in interface SupportsFOC
      Specified by:
      setControl in interface SupportsMusic
      Parameters:
      request - Control object to request of the device
      Returns:
      Status Code of the request, 0 is OK

    • setPosition

      public StatusCode setPosition(double newValue)
      Sets the mechanism position of the device in mechanism rotations.

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

      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • setPosition

      public StatusCode setPosition(double newValue, double timeoutSeconds)
      Sets the mechanism position of the device in mechanism rotations.
      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • setPosition

      public StatusCode setPosition(edu.wpi.first.units.measure.Angle newValue)
      Sets the mechanism position of the device in mechanism rotations.

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

      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • setPosition

      public StatusCode setPosition(edu.wpi.first.units.measure.Angle newValue, double timeoutSeconds)
      Sets the mechanism position of the device in mechanism rotations.
      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public StatusCode clearStickyFaults()
      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.

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

      Specified by:
      clearStickyFaults in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public StatusCode clearStickyFaults(double timeoutSeconds)
      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.

      Specified by:
      clearStickyFaults in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

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

      Specified by:
      clearStickyFault_Hardware in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred
      Specified by:
      clearStickyFault_Hardware in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ProcTemp

      public StatusCode clearStickyFault_ProcTemp()
      Clear sticky fault: Processor temperature exceeded limit

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

      Specified by:
      clearStickyFault_ProcTemp in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ProcTemp

      public StatusCode clearStickyFault_ProcTemp(double timeoutSeconds)
      Clear sticky fault: Processor temperature exceeded limit
      Specified by:
      clearStickyFault_ProcTemp in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_DeviceTemp

      public StatusCode clearStickyFault_DeviceTemp()
      Clear sticky fault: Device temperature exceeded limit

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

      Specified by:
      clearStickyFault_DeviceTemp in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_DeviceTemp

      public StatusCode clearStickyFault_DeviceTemp(double timeoutSeconds)
      Clear sticky fault: Device temperature exceeded limit
      Specified by:
      clearStickyFault_DeviceTemp in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public StatusCode clearStickyFault_Undervoltage()
      Clear sticky fault: Device supply voltage dropped to near brownout levels

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

      Specified by:
      clearStickyFault_Undervoltage in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public StatusCode clearStickyFault_Undervoltage(double timeoutSeconds)
      Clear sticky fault: Device supply voltage dropped to near brownout levels
      Specified by:
      clearStickyFault_Undervoltage in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable()
      Clear sticky fault: Device boot while detecting the enable signal

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

      Specified by:
      clearStickyFault_BootDuringEnable in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds)
      Clear sticky fault: Device boot while detecting the enable signal
      Specified by:
      clearStickyFault_BootDuringEnable in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public StatusCode clearStickyFault_UnlicensedFeatureInUse()
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

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

      Specified by:
      clearStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
      Specified by:
      clearStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeBrownout

      public StatusCode clearStickyFault_BridgeBrownout()
      Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

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

      Specified by:
      clearStickyFault_BridgeBrownout in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeBrownout

      public StatusCode clearStickyFault_BridgeBrownout(double timeoutSeconds)
      Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
      Specified by:
      clearStickyFault_BridgeBrownout in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorReset

      public StatusCode clearStickyFault_RemoteSensorReset()
      Clear sticky fault: The remote sensor has reset.

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

      Specified by:
      clearStickyFault_RemoteSensorReset in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorReset

      public StatusCode clearStickyFault_RemoteSensorReset(double timeoutSeconds)
      Clear sticky fault: The remote sensor has reset.
      Specified by:
      clearStickyFault_RemoteSensorReset in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingDifferentialFX

      public StatusCode clearStickyFault_MissingDifferentialFX()
      Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

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

      Specified by:
      clearStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingDifferentialFX

      public StatusCode clearStickyFault_MissingDifferentialFX(double timeoutSeconds)
      Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
      Specified by:
      clearStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorPosOverflow

      public StatusCode clearStickyFault_RemoteSensorPosOverflow()
      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.

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

      Specified by:
      clearStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorPosOverflow

      public StatusCode clearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds)
      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.
      Specified by:
      clearStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_OverSupplyV

      public StatusCode clearStickyFault_OverSupplyV()
      Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

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

      Specified by:
      clearStickyFault_OverSupplyV in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_OverSupplyV

      public StatusCode clearStickyFault_OverSupplyV(double timeoutSeconds)
      Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
      Specified by:
      clearStickyFault_OverSupplyV in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnstableSupplyV

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

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

      Specified by:
      clearStickyFault_UnstableSupplyV in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnstableSupplyV

      public StatusCode clearStickyFault_UnstableSupplyV(double timeoutSeconds)
      Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      Specified by:
      clearStickyFault_UnstableSupplyV in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseHardLimit

      public StatusCode clearStickyFault_ReverseHardLimit()
      Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.

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

      Specified by:
      clearStickyFault_ReverseHardLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseHardLimit

      public StatusCode clearStickyFault_ReverseHardLimit(double timeoutSeconds)
      Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ReverseHardLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardHardLimit

      public StatusCode clearStickyFault_ForwardHardLimit()
      Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.

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

      Specified by:
      clearStickyFault_ForwardHardLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardHardLimit

      public StatusCode clearStickyFault_ForwardHardLimit(double timeoutSeconds)
      Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ForwardHardLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseSoftLimit

      public StatusCode clearStickyFault_ReverseSoftLimit()
      Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.

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

      Specified by:
      clearStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseSoftLimit

      public StatusCode clearStickyFault_ReverseSoftLimit(double timeoutSeconds)
      Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardSoftLimit

      public StatusCode clearStickyFault_ForwardSoftLimit()
      Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.

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

      Specified by:
      clearStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardSoftLimit

      public StatusCode clearStickyFault_ForwardSoftLimit(double timeoutSeconds)
      Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingSoftLimitRemote

      public StatusCode clearStickyFault_MissingSoftLimitRemote()
      Clear sticky fault: The remote soft limit device is not present on CAN Bus.

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

      Specified by:
      clearStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingSoftLimitRemote

      public StatusCode clearStickyFault_MissingSoftLimitRemote(double timeoutSeconds)
      Clear sticky fault: The remote soft limit device is not present on CAN Bus.
      Specified by:
      clearStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingHardLimitRemote

      public StatusCode clearStickyFault_MissingHardLimitRemote()
      Clear sticky fault: The remote limit switch device is not present on CAN Bus.

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

      Specified by:
      clearStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingHardLimitRemote

      public StatusCode clearStickyFault_MissingHardLimitRemote(double timeoutSeconds)
      Clear sticky fault: The remote limit switch device is not present on CAN Bus.
      Specified by:
      clearStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorDataInvalid

      public StatusCode clearStickyFault_RemoteSensorDataInvalid()
      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.

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

      Specified by:
      clearStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorDataInvalid

      public StatusCode clearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds)
      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.
      Specified by:
      clearStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_FusedSensorOutOfSync

      public StatusCode clearStickyFault_FusedSensorOutOfSync()
      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.

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

      Specified by:
      clearStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_FusedSensorOutOfSync

      public StatusCode clearStickyFault_FusedSensorOutOfSync(double timeoutSeconds)
      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.
      Specified by:
      clearStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_StatorCurrLimit

      public StatusCode clearStickyFault_StatorCurrLimit()
      Clear sticky fault: Stator current limit occured.

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

      Specified by:
      clearStickyFault_StatorCurrLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_StatorCurrLimit

      public StatusCode clearStickyFault_StatorCurrLimit(double timeoutSeconds)
      Clear sticky fault: Stator current limit occured.
      Specified by:
      clearStickyFault_StatorCurrLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_SupplyCurrLimit

      public StatusCode clearStickyFault_SupplyCurrLimit()
      Clear sticky fault: Supply current limit occured.

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

      Specified by:
      clearStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_SupplyCurrLimit

      public StatusCode clearStickyFault_SupplyCurrLimit(double timeoutSeconds)
      Clear sticky fault: Supply current limit occured.
      Specified by:
      clearStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UsingFusedCANcoderWhileUnlicensed

      public StatusCode clearStickyFault_UsingFusedCANcoderWhileUnlicensed()
      Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

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

      Specified by:
      clearStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_UsingFusedCANcoderWhileUnlicensed

      public StatusCode clearStickyFault_UsingFusedCANcoderWhileUnlicensed(double timeoutSeconds)
      Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      Specified by:
      clearStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_StaticBrakeDisabled

      public StatusCode clearStickyFault_StaticBrakeDisabled()
      Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

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

      Specified by:
      clearStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_StaticBrakeDisabled

      public StatusCode clearStickyFault_StaticBrakeDisabled(double timeoutSeconds)
      Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.
      Specified by:
      clearStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command