77#include <units/angle.h>
78#include <units/angular_acceleration.h>
79#include <units/angular_velocity.h>
80#include <units/current.h>
81#include <units/dimensionless.h>
82#include <units/temperature.h>
83#include <units/voltage.h>
507 Voltage = std::move(newVoltage);
722 Audio = std::move(newAudio);
851 Slot0 = std::move(newSlot0);
882 Slot1 = std::move(newSlot1);
913 Slot2 = std::move(newSlot2);
922 std::stringstream ss;
923 ss <<
"TalonFXConfiguration" << std::endl;
950 std::stringstream ss;
2253 std::stringstream ss;
2298 std::stringstream ss;
2335 std::stringstream ss;
2372 std::stringstream ss;
2409 std::stringstream ss;
2448 std::stringstream ss;
2487 std::stringstream ss;
2526 std::stringstream ss;
2565 std::stringstream ss;
2602 std::stringstream ss;
2641 std::stringstream ss;
2686 std::stringstream ss;
2725 std::stringstream ss;
2764 std::stringstream ss;
2803 std::stringstream ss;
2842 std::stringstream ss;
2881 std::stringstream ss;
2920 std::stringstream ss;
2959 std::stringstream ss;
2998 std::stringstream ss;
3043 std::stringstream ss;
3088 std::stringstream ss;
3125 std::stringstream ss;
3162 std::stringstream ss;
3201 std::stringstream ss;
3240 std::stringstream ss;
3315 std::unique_ptr<sim::TalonFXSimState> _simState{};
3328 if (_simState ==
nullptr)
3329 _simState = std::make_unique<sim::TalonFXSimState>(*
this);
7798 if (DutyCycleOutValue !=
nullptr)
7801 if (TorqueCurrentFOCValue !=
nullptr)
7804 if (VoltageOutValue !=
nullptr)
7807 if (PositionDutyCycleValue !=
nullptr)
7810 if (PositionVoltageValue !=
nullptr)
7813 if (PositionTorqueCurrentFOCValue !=
nullptr)
7814 return SetControl(*PositionTorqueCurrentFOCValue);
7816 if (VelocityDutyCycleValue !=
nullptr)
7819 if (VelocityVoltageValue !=
nullptr)
7822 if (VelocityTorqueCurrentFOCValue !=
nullptr)
7823 return SetControl(*VelocityTorqueCurrentFOCValue);
7825 if (MotionMagicDutyCycleValue !=
nullptr)
7826 return SetControl(*MotionMagicDutyCycleValue);
7828 if (MotionMagicVoltageValue !=
nullptr)
7831 if (MotionMagicTorqueCurrentFOCValue !=
nullptr)
7832 return SetControl(*MotionMagicTorqueCurrentFOCValue);
7834 if (DifferentialDutyCycleValue !=
nullptr)
7835 return SetControl(*DifferentialDutyCycleValue);
7837 if (DifferentialVoltageValue !=
nullptr)
7838 return SetControl(*DifferentialVoltageValue);
7840 if (DifferentialPositionDutyCycleValue !=
nullptr)
7841 return SetControl(*DifferentialPositionDutyCycleValue);
7843 if (DifferentialPositionVoltageValue !=
nullptr)
7844 return SetControl(*DifferentialPositionVoltageValue);
7846 if (DifferentialVelocityDutyCycleValue !=
nullptr)
7847 return SetControl(*DifferentialVelocityDutyCycleValue);
7849 if (DifferentialVelocityVoltageValue !=
nullptr)
7850 return SetControl(*DifferentialVelocityVoltageValue);
7852 if (DifferentialMotionMagicDutyCycleValue !=
nullptr)
7853 return SetControl(*DifferentialMotionMagicDutyCycleValue);
7855 if (DifferentialMotionMagicVoltageValue !=
nullptr)
7856 return SetControl(*DifferentialMotionMagicVoltageValue);
7858 if (FollowerValue !=
nullptr)
7861 if (StrictFollowerValue !=
nullptr)
7864 if (DifferentialFollowerValue !=
nullptr)
7865 return SetControl(*DifferentialFollowerValue);
7867 if (DifferentialStrictFollowerValue !=
nullptr)
7868 return SetControl(*DifferentialStrictFollowerValue);
7870 if (NeutralOutValue !=
nullptr)
7873 if (CoastOutValue !=
nullptr)
7876 if (StaticBrakeValue !=
nullptr)
7879 if (MusicToneValue !=
nullptr)
7882 if (MotionMagicVelocityDutyCycleValue !=
nullptr)
7883 return SetControl(*MotionMagicVelocityDutyCycleValue);
7885 if (MotionMagicVelocityTorqueCurrentFOCValue !=
nullptr)
7886 return SetControl(*MotionMagicVelocityTorqueCurrentFOCValue);
7888 if (MotionMagicVelocityVoltageValue !=
nullptr)
7889 return SetControl(*MotionMagicVelocityVoltageValue);
7891 if (MotionMagicExpoDutyCycleValue !=
nullptr)
7892 return SetControl(*MotionMagicExpoDutyCycleValue);
7894 if (MotionMagicExpoVoltageValue !=
nullptr)
7895 return SetControl(*MotionMagicExpoVoltageValue);
7897 if (MotionMagicExpoTorqueCurrentFOCValue !=
nullptr)
7898 return SetControl(*MotionMagicExpoTorqueCurrentFOCValue);
7900 if (DynamicMotionMagicDutyCycleValue !=
nullptr)
7901 return SetControl(*DynamicMotionMagicDutyCycleValue);
7903 if (DynamicMotionMagicVoltageValue !=
nullptr)
7904 return SetControl(*DynamicMotionMagicVoltageValue);
7906 if (DynamicMotionMagicTorqueCurrentFOCValue !=
nullptr)
7907 return SetControl(*DynamicMotionMagicTorqueCurrentFOCValue);
7908 auto const *Diff_DutyCycleOut_PositionValue =
dynamic_cast<controls::compound::Diff_DutyCycleOut_Position
const *
>(ptr);
7909 if (Diff_DutyCycleOut_PositionValue !=
nullptr)
7910 return SetControl(*Diff_DutyCycleOut_PositionValue);
7911 auto const *Diff_PositionDutyCycle_PositionValue =
dynamic_cast<controls::compound::Diff_PositionDutyCycle_Position
const *
>(ptr);
7912 if (Diff_PositionDutyCycle_PositionValue !=
nullptr)
7913 return SetControl(*Diff_PositionDutyCycle_PositionValue);
7914 auto const *Diff_VelocityDutyCycle_PositionValue =
dynamic_cast<controls::compound::Diff_VelocityDutyCycle_Position
const *
>(ptr);
7915 if (Diff_VelocityDutyCycle_PositionValue !=
nullptr)
7916 return SetControl(*Diff_VelocityDutyCycle_PositionValue);
7917 auto const *Diff_MotionMagicDutyCycle_PositionValue =
dynamic_cast<controls::compound::Diff_MotionMagicDutyCycle_Position
const *
>(ptr);
7918 if (Diff_MotionMagicDutyCycle_PositionValue !=
nullptr)
7919 return SetControl(*Diff_MotionMagicDutyCycle_PositionValue);
7920 auto const *Diff_DutyCycleOut_VelocityValue =
dynamic_cast<controls::compound::Diff_DutyCycleOut_Velocity
const *
>(ptr);
7921 if (Diff_DutyCycleOut_VelocityValue !=
nullptr)
7922 return SetControl(*Diff_DutyCycleOut_VelocityValue);
7923 auto const *Diff_PositionDutyCycle_VelocityValue =
dynamic_cast<controls::compound::Diff_PositionDutyCycle_Velocity
const *
>(ptr);
7924 if (Diff_PositionDutyCycle_VelocityValue !=
nullptr)
7925 return SetControl(*Diff_PositionDutyCycle_VelocityValue);
7926 auto const *Diff_VelocityDutyCycle_VelocityValue =
dynamic_cast<controls::compound::Diff_VelocityDutyCycle_Velocity
const *
>(ptr);
7927 if (Diff_VelocityDutyCycle_VelocityValue !=
nullptr)
7928 return SetControl(*Diff_VelocityDutyCycle_VelocityValue);
7929 auto const *Diff_MotionMagicDutyCycle_VelocityValue =
dynamic_cast<controls::compound::Diff_MotionMagicDutyCycle_Velocity
const *
>(ptr);
7930 if (Diff_MotionMagicDutyCycle_VelocityValue !=
nullptr)
7931 return SetControl(*Diff_MotionMagicDutyCycle_VelocityValue);
7932 auto const *Diff_VoltageOut_PositionValue =
dynamic_cast<controls::compound::Diff_VoltageOut_Position
const *
>(ptr);
7933 if (Diff_VoltageOut_PositionValue !=
nullptr)
7934 return SetControl(*Diff_VoltageOut_PositionValue);
7935 auto const *Diff_PositionVoltage_PositionValue =
dynamic_cast<controls::compound::Diff_PositionVoltage_Position
const *
>(ptr);
7936 if (Diff_PositionVoltage_PositionValue !=
nullptr)
7937 return SetControl(*Diff_PositionVoltage_PositionValue);
7938 auto const *Diff_VelocityVoltage_PositionValue =
dynamic_cast<controls::compound::Diff_VelocityVoltage_Position
const *
>(ptr);
7939 if (Diff_VelocityVoltage_PositionValue !=
nullptr)
7940 return SetControl(*Diff_VelocityVoltage_PositionValue);
7941 auto const *Diff_MotionMagicVoltage_PositionValue =
dynamic_cast<controls::compound::Diff_MotionMagicVoltage_Position
const *
>(ptr);
7942 if (Diff_MotionMagicVoltage_PositionValue !=
nullptr)
7943 return SetControl(*Diff_MotionMagicVoltage_PositionValue);
7944 auto const *Diff_VoltageOut_VelocityValue =
dynamic_cast<controls::compound::Diff_VoltageOut_Velocity
const *
>(ptr);
7945 if (Diff_VoltageOut_VelocityValue !=
nullptr)
7946 return SetControl(*Diff_VoltageOut_VelocityValue);
7947 auto const *Diff_PositionVoltage_VelocityValue =
dynamic_cast<controls::compound::Diff_PositionVoltage_Velocity
const *
>(ptr);
7948 if (Diff_PositionVoltage_VelocityValue !=
nullptr)
7949 return SetControl(*Diff_PositionVoltage_VelocityValue);
7950 auto const *Diff_VelocityVoltage_VelocityValue =
dynamic_cast<controls::compound::Diff_VelocityVoltage_Velocity
const *
>(ptr);
7951 if (Diff_VelocityVoltage_VelocityValue !=
nullptr)
7952 return SetControl(*Diff_VelocityVoltage_VelocityValue);
7953 auto const *Diff_MotionMagicVoltage_VelocityValue =
dynamic_cast<controls::compound::Diff_MotionMagicVoltage_Velocity
const *
>(ptr);
7954 if (Diff_MotionMagicVoltage_VelocityValue !=
nullptr)
7955 return SetControl(*Diff_MotionMagicVoltage_VelocityValue);
7956 auto const *Diff_TorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_TorqueCurrentFOC_Position
const *
>(ptr);
7957 if (Diff_TorqueCurrentFOC_PositionValue !=
nullptr)
7958 return SetControl(*Diff_TorqueCurrentFOC_PositionValue);
7959 auto const *Diff_PositionTorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_PositionTorqueCurrentFOC_Position
const *
>(ptr);
7960 if (Diff_PositionTorqueCurrentFOC_PositionValue !=
nullptr)
7961 return SetControl(*Diff_PositionTorqueCurrentFOC_PositionValue);
7962 auto const *Diff_VelocityTorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_VelocityTorqueCurrentFOC_Position
const *
>(ptr);
7963 if (Diff_VelocityTorqueCurrentFOC_PositionValue !=
nullptr)
7964 return SetControl(*Diff_VelocityTorqueCurrentFOC_PositionValue);
7965 auto const *Diff_MotionMagicTorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position
const *
>(ptr);
7966 if (Diff_MotionMagicTorqueCurrentFOC_PositionValue !=
nullptr)
7967 return SetControl(*Diff_MotionMagicTorqueCurrentFOC_PositionValue);
7968 auto const *Diff_TorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_TorqueCurrentFOC_Velocity
const *
>(ptr);
7969 if (Diff_TorqueCurrentFOC_VelocityValue !=
nullptr)
7970 return SetControl(*Diff_TorqueCurrentFOC_VelocityValue);
7971 auto const *Diff_PositionTorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_PositionTorqueCurrentFOC_Velocity
const *
>(ptr);
7972 if (Diff_PositionTorqueCurrentFOC_VelocityValue !=
nullptr)
7973 return SetControl(*Diff_PositionTorqueCurrentFOC_VelocityValue);
7974 auto const *Diff_VelocityTorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity
const *
>(ptr);
7975 if (Diff_VelocityTorqueCurrentFOC_VelocityValue !=
nullptr)
7976 return SetControl(*Diff_VelocityTorqueCurrentFOC_VelocityValue);
7977 auto const *Diff_MotionMagicTorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity
const *
>(ptr);
7978 if (Diff_MotionMagicTorqueCurrentFOC_VelocityValue !=
nullptr)
7979 return SetControl(*Diff_MotionMagicTorqueCurrentFOC_VelocityValue);
ii that the Software will be uninterrupted or error free
Definition CTRE_LICENSE.txt:251
CTREXPORT int c_ctre_phoenix6_serialize_double(int spn, double value, char **str)
Class for getting information about an available CAN bus.
Definition CANBus.hpp:19
Represents a status signal with data of type T, and operations available to retrieve information abou...
Definition StatusSignal.hpp:656
Configs that affect audible components of the device.
Definition Configs.hpp:4021
std::string Serialize() const override
Definition Configs.hpp:4126
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:4136
std::string ToString() const override
Definition Configs.hpp:4116
Configs that affect general behavior during closed-looping.
Definition Configs.hpp:4680
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:4740
std::string ToString() const override
Definition Configs.hpp:4724
std::string Serialize() const override
Definition Configs.hpp:4732
Configs that affect the closed-loop control of this motor controller.
Definition Configs.hpp:3252
std::string Serialize() const override
Definition Configs.hpp:3410
std::string ToString() const override
Definition Configs.hpp:3400
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:3420
Configs that directly affect current limiting features.
Definition Configs.hpp:902
std::string Serialize() const override
Definition Configs.hpp:1163
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:1176
std::string ToString() const override
Definition Configs.hpp:1150
Custom Params.
Definition Configs.hpp:4576
std::string ToString() const override
Definition Configs.hpp:4645
std::string Serialize() const override
Definition Configs.hpp:4654
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:4663
Configs related to constants used for differential control of a mechanism.
Definition Configs.hpp:2940
std::string Serialize() const override
Definition Configs.hpp:3050
std::string ToString() const override
Definition Configs.hpp:3040
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:3060
Configs related to sensors used for differential control of a mechanism.
Definition Configs.hpp:2761
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:2921
std::string Serialize() const override
Definition Configs.hpp:2911
std::string ToString() const override
Definition Configs.hpp:2901
Configs that affect the feedback of this motor controller.
Definition Configs.hpp:1501
std::string ToString() const override
Definition Configs.hpp:1962
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:1988
std::string Serialize() const override
Definition Configs.hpp:1975
Configs that change how the motor controller behaves under different limit switch states.
Definition Configs.hpp:3447
std::string ToString() const override
Definition Configs.hpp:3952
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:3990
std::string Serialize() const override
Definition Configs.hpp:3971
Configs for Motion Magic®.
Definition Configs.hpp:4320
std::string Serialize() const override
Definition Configs.hpp:4534
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:4546
std::string ToString() const override
Definition Configs.hpp:4522
Configs that directly affect motor output.
Definition Configs.hpp:661
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:872
std::string ToString() const override
Definition Configs.hpp:846
std::string Serialize() const override
Definition Configs.hpp:859
Configs that affect the open-loop control of this motor controller.
Definition Configs.hpp:3085
std::string Serialize() const override
Definition Configs.hpp:3217
std::string ToString() const override
Definition Configs.hpp:3207
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:3227
Definition Configs.hpp:40
Definition Configurator.hpp:22
ctre::phoenix::StatusCode SetConfigsPrivate(const std::string &serializedString, units::time::second_t timeoutSeconds, bool futureProofConfigs, bool overrideIfDuplicate)
Definition Configurator.hpp:77
ctre::phoenix::StatusCode GetConfigsPrivate(std::string &serializedString, units::time::second_t timeoutSeconds) const
Definition Configurator.hpp:101
units::time::second_t DefaultTimeoutSeconds
The default maximum amount of time to wait for a config.
Definition Configurator.hpp:27
Gains for the specified slot.
Definition Configs.hpp:6296
std::string ToString() const override
Definition Configs.hpp:6720
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:6752
std::string Serialize() const override
Definition Configs.hpp:6736
Gains for the specified slot.
Definition Configs.hpp:6791
std::string Serialize() const override
Definition Configs.hpp:7231
std::string ToString() const override
Definition Configs.hpp:7215
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:7247
Gains for the specified slot.
Definition Configs.hpp:7286
std::string Serialize() const override
Definition Configs.hpp:7726
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:7742
std::string ToString() const override
Definition Configs.hpp:7710
Gains for the specified slot.
Definition Configs.hpp:7780
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize)
Definition Configs.hpp:8297
std::string Serialize() const
Definition Configs.hpp:8280
Configs that affect how software-limit switches behave.
Definition Configs.hpp:4155
std::string ToString() const override
Definition Configs.hpp:4274
std::string Serialize() const override
Definition Configs.hpp:4285
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:4296
Class description for the Talon FX integrated motor controller.
Definition CoreTalonFX.hpp:102
TorqueCurrentConfigs TorqueCurrent
Configs that affect Torque Current control types.
Definition CoreTalonFX.hpp:187
constexpr TalonFXConfiguration & WithTorqueCurrent(TorqueCurrentConfigs newTorqueCurrent)
Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easi...
Definition CoreTalonFX.hpp:531
MotorOutputConfigs MotorOutput
Configs that directly affect motor output.
Definition CoreTalonFX.hpp:138
constexpr TalonFXConfiguration & WithAudio(AudioConfigs newAudio)
Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to us...
Definition CoreTalonFX.hpp:720
constexpr TalonFXConfiguration & WithOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)
Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easi...
Definition CoreTalonFX.hpp:635
bool FutureProofConfigs
True if we should factory default newer unsupported configs, false to leave newer unsupported configs...
Definition CoreTalonFX.hpp:119
constexpr TalonFXConfiguration & WithSlot1(Slot1Configs newSlot1)
Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to us...
Definition CoreTalonFX.hpp:880
constexpr TalonFXConfiguration & WithHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)
Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining an...
Definition CoreTalonFX.hpp:696
constexpr TalonFXConfiguration & WithFeedback(FeedbackConfigs newFeedback)
Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to...
Definition CoreTalonFX.hpp:561
constexpr TalonFXConfiguration & WithClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)
Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and ea...
Definition CoreTalonFX.hpp:660
constexpr TalonFXConfiguration & WithMotionMagic(MotionMagicConfigs newMotionMagic)
Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier...
Definition CoreTalonFX.hpp:773
constexpr TalonFXConfiguration & WithDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)
Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining ...
Definition CoreTalonFX.hpp:611
constexpr TalonFXConfiguration & WithClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)
Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and ...
Definition CoreTalonFX.hpp:818
constexpr TalonFXConfiguration & WithCustomParams(CustomParamsConfigs newCustomParams)
Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easie...
Definition CoreTalonFX.hpp:796
constexpr TalonFXConfiguration()=default
constexpr TalonFXConfiguration & WithSlot2(Slot2Configs newSlot2)
Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to us...
Definition CoreTalonFX.hpp:911
DifferentialConstantsConfigs DifferentialConstants
Configs related to constants used for differential control of a mechanism.
Definition CoreTalonFX.hpp:237
constexpr TalonFXConfiguration & WithDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)
Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining an...
Definition CoreTalonFX.hpp:586
VoltageConfigs Voltage
Configs that affect Voltage control types.
Definition CoreTalonFX.hpp:171
HardwareLimitSwitchConfigs HardwareLimitSwitch
Configs that change how the motor controller behaves under different limit switch states.
Definition CoreTalonFX.hpp:293
constexpr TalonFXConfiguration & WithCurrentLimits(CurrentLimitsConfigs newCurrentLimits)
Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easi...
Definition CoreTalonFX.hpp:480
ClosedLoopRampsConfigs ClosedLoopRamps
Configs that affect the closed-loop control of this motor controller.
Definition CoreTalonFX.hpp:267
Slot2Configs Slot2
Gains for the specified slot.
Definition CoreTalonFX.hpp:428
OpenLoopRampsConfigs OpenLoopRamps
Configs that affect the open-loop control of this motor controller.
Definition CoreTalonFX.hpp:252
SoftwareLimitSwitchConfigs SoftwareLimitSwitch
Configs that affect how software-limit switches behave.
Definition CoreTalonFX.hpp:323
MotionMagicConfigs MotionMagic
Configs for Motion Magic®.
Definition CoreTalonFX.hpp:340
std::string ToString() const
Get the string representation of this configuration.
Definition CoreTalonFX.hpp:920
FeedbackConfigs Feedback
Configs that affect the feedback of this motor controller.
Definition CoreTalonFX.hpp:207
Slot0Configs Slot0
Gains for the specified slot.
Definition CoreTalonFX.hpp:386
constexpr TalonFXConfiguration & WithSlot0(Slot0Configs newSlot0)
Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to us...
Definition CoreTalonFX.hpp:849
AudioConfigs Audio
Configs that affect audible components of the device.
Definition CoreTalonFX.hpp:307
DifferentialSensorsConfigs DifferentialSensors
Configs related to sensors used for differential control of a mechanism.
Definition CoreTalonFX.hpp:222
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize)
Take a string and deserialize it to this configuration.
Definition CoreTalonFX.hpp:975
CurrentLimitsConfigs CurrentLimits
Configs that directly affect current limiting features.
Definition CoreTalonFX.hpp:156
constexpr TalonFXConfiguration & WithMotorOutput(MotorOutputConfigs newMotorOutput)
Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier...
Definition CoreTalonFX.hpp:452
CustomParamsConfigs CustomParams
Custom Params.
Definition CoreTalonFX.hpp:353
ClosedLoopGeneralConfigs ClosedLoopGeneral
Configs that affect general behavior during closed-looping.
Definition CoreTalonFX.hpp:365
std::string Serialize() const
Get the serialized form of this configuration.
Definition CoreTalonFX.hpp:948
constexpr TalonFXConfiguration & WithVoltage(VoltageConfigs newVoltage)
Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to ...
Definition CoreTalonFX.hpp:505
Slot1Configs Slot1
Gains for the specified slot.
Definition CoreTalonFX.hpp:407
constexpr TalonFXConfiguration & WithSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)
Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining an...
Definition CoreTalonFX.hpp:746
Class description for the Talon FX integrated motor controller.
Definition CoreTalonFX.hpp:1006
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid()
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition CoreTalonFX.hpp:3021
ctre::phoenix::StatusCode Refresh(AudioConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1687
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor position has overflowed.
Definition CoreTalonFX.hpp:2684
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit()
Clear sticky fault: Forward soft limit has been asserted.
Definition CoreTalonFX.hpp:2901
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition CoreTalonFX.hpp:2996
ctre::phoenix::StatusCode Refresh(Slot1Configs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2060
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue)
Sets the mechanism position of the device in mechanism rotations.
Definition CoreTalonFX.hpp:2233
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition CoreTalonFX.hpp:3041
ctre::phoenix::StatusCode ClearStickyFaults()
Clear the sticky faults in the device.
Definition CoreTalonFX.hpp:2276
ctre::phoenix::StatusCode Apply(const DifferentialConstantsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1492
ctre::phoenix::StatusCode Refresh(OpenLoopRampsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1507
ctre::phoenix::StatusCode Apply(const AudioConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1718
ctre::phoenix::StatusCode Refresh(FeedbackConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1327
ctre::phoenix::StatusCode Apply(const Slot0Configs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2032
ctre::phoenix::StatusCode Refresh(Slot0Configs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1987
ctre::phoenix::StatusCode Refresh(ClosedLoopGeneralConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1940
ctre::phoenix::StatusCode Refresh(SoftwareLimitSwitchConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1747
ctre::phoenix::StatusCode Apply(const TalonFXConfiguration &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1057
ctre::phoenix::StatusCode Apply(const MotionMagicConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1838
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp(units::time::second_t timeoutSeconds)
Clear sticky fault: Processor temperature exceeded limit.
Definition CoreTalonFX.hpp:2370
ctre::phoenix::StatusCode Apply(const DifferentialSensorsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1418
ctre::phoenix::StatusCode Refresh(Slot2Configs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2120
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout(units::time::second_t timeoutSeconds)
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
Definition CoreTalonFX.hpp:2563
ctre::phoenix::StatusCode Refresh(ClosedLoopRampsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1580
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CoreTalonFX.hpp:2429
ctre::phoenix::StatusCode Refresh(MotionMagicConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1807
ctre::phoenix::StatusCode Apply(const Slot2Configs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2152
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition CoreTalonFX.hpp:2723
ctre::phoenix::StatusCode ClearStickyFault_StaticBrakeDisabled(units::time::second_t timeoutSeconds)
Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disa...
Definition CoreTalonFX.hpp:3238
ctre::phoenix::StatusCode Apply(const DifferentialConstantsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1478
ctre::phoenix::StatusCode Refresh(VoltageConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1220
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp()
Clear sticky fault: Processor temperature exceeded limit.
Definition CoreTalonFX.hpp:2354
ctre::phoenix::StatusCode Refresh(SlotConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2167
ctre::phoenix::StatusCode Refresh(Slot1Configs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2047
ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1867
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp()
Clear sticky fault: Device temperature exceeded limit.
Definition CoreTalonFX.hpp:2391
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Forward soft limit has been asserted.
Definition CoreTalonFX.hpp:2918
ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1912
ctre::phoenix::StatusCode Refresh(ClosedLoopGeneralConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1927
ctre::phoenix::StatusCode Refresh(Slot2Configs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2107
ctre::phoenix::StatusCode ClearStickyFault_StaticBrakeDisabled()
Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disa...
Definition CoreTalonFX.hpp:3221
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
Sets the mechanism position of the device in mechanism rotations.
Definition CoreTalonFX.hpp:2251
ctre::phoenix::StatusCode ClearStickyFault_Hardware()
Clear sticky fault: Hardware fault occurred.
Definition CoreTalonFX.hpp:2317
ctre::phoenix::StatusCode Apply(const SlotConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2212
ctre::phoenix::StatusCode Apply(const OpenLoopRampsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1538
ctre::phoenix::StatusCode Apply(const Slot1Configs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2092
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Reverse soft limit has been asserted.
Definition CoreTalonFX.hpp:2879
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit()
Clear sticky fault: Reverse soft limit has been asserted.
Definition CoreTalonFX.hpp:2862
ctre::phoenix::StatusCode Refresh(VoltageConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1207
ctre::phoenix::StatusCode Refresh(FeedbackConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1340
ctre::phoenix::StatusCode Apply(const ClosedLoopRampsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1598
ctre::phoenix::StatusCode Apply(const TalonFXConfiguration &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1071
ctre::phoenix::StatusCode Apply(const ClosedLoopRampsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1612
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse()
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CoreTalonFX.hpp:2507
ctre::phoenix::StatusCode Apply(const SoftwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1792
ctre::phoenix::StatusCode Apply(const Slot0Configs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2018
ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1898
ctre::phoenix::StatusCode Apply(const TorqueCurrentConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1312
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
Definition CoreTalonFX.hpp:3086
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow()
Clear sticky fault: The remote sensor position has overflowed.
Definition CoreTalonFX.hpp:2664
ctre::phoenix::StatusCode ClearStickyFault_Hardware(units::time::second_t timeoutSeconds)
Clear sticky fault: Hardware fault occurred.
Definition CoreTalonFX.hpp:2333
ctre::phoenix::StatusCode Apply(const ClosedLoopGeneralConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1958
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(units::time::second_t timeoutSeconds)
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CoreTalonFX.hpp:2446
ctre::phoenix::StatusCode Apply(const ClosedLoopGeneralConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1972
ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1880
ctre::phoenix::StatusCode Refresh(SoftwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1760
ctre::phoenix::StatusCode Apply(const MotorOutputConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1118
ctre::phoenix::StatusCode Apply(const Slot2Configs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2138
ctre::phoenix::StatusCode Apply(const MotionMagicConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1852
ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
Clear the sticky faults in the device.
Definition CoreTalonFX.hpp:2296
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply Voltage is unstable.
Definition CoreTalonFX.hpp:2762
ctre::phoenix::StatusCode Refresh(AudioConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1700
ctre::phoenix::StatusCode Apply(const VoltageConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1252
ctre::phoenix::StatusCode Refresh(MotorOutputConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1100
ctre::phoenix::StatusCode Refresh(CurrentLimitsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1147
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
Clear sticky fault: Device boot while detecting the enable signal.
Definition CoreTalonFX.hpp:2468
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV()
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition CoreTalonFX.hpp:2706
ctre::phoenix::StatusCode Refresh(TalonFXConfiguration &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1039
ctre::phoenix::StatusCode Refresh(DifferentialSensorsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1387
ctre::phoenix::StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed()
Clear sticky fault: Using Fused CANcoder feature while unlicensed.
Definition CoreTalonFX.hpp:3182
ctre::phoenix::StatusCode Refresh(TorqueCurrentConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1267
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout()
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
Definition CoreTalonFX.hpp:2546
ctre::phoenix::StatusCode Apply(const SlotConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2198
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor has reset.
Definition CoreTalonFX.hpp:2600
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse(units::time::second_t timeoutSeconds)
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CoreTalonFX.hpp:2524
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit()
Clear sticky fault: Supply current limit occured.
Definition CoreTalonFX.hpp:3144
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV()
Clear sticky fault: Supply Voltage is unstable.
Definition CoreTalonFX.hpp:2745
ctre::phoenix::StatusCode Refresh(OpenLoopRampsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1520
ctre::phoenix::StatusCode Apply(const Slot1Configs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:2078
ctre::phoenix::StatusCode Apply(const SoftwareLimitSwitchConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1778
ctre::phoenix::StatusCode Refresh(DifferentialSensorsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1400
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
Definition CoreTalonFX.hpp:2639
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit()
Clear sticky fault: Forward limit switch has been asserted.
Definition CoreTalonFX.hpp:2823
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Stator current limit occured.
Definition CoreTalonFX.hpp:3123
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote()
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition CoreTalonFX.hpp:2979
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit()
Clear sticky fault: Stator current limit occured.
Definition CoreTalonFX.hpp:3107
ctre::phoenix::StatusCode Apply(const HardwareLimitSwitchConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1658
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync()
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
Definition CoreTalonFX.hpp:3066
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp(units::time::second_t timeoutSeconds)
Clear sticky fault: Device temperature exceeded limit.
Definition CoreTalonFX.hpp:2407
ctre::phoenix::StatusCode Apply(const CurrentLimitsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1192
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote()
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition CoreTalonFX.hpp:2940
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Reverse limit switch has been asserted.
Definition CoreTalonFX.hpp:2801
ctre::phoenix::StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed(units::time::second_t timeoutSeconds)
Clear sticky fault: Using Fused CANcoder feature while unlicensed.
Definition CoreTalonFX.hpp:3199
ctre::phoenix::StatusCode Refresh(DifferentialConstantsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1460
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(units::time::second_t timeoutSeconds)
Clear sticky fault: Device boot while detecting the enable signal.
Definition CoreTalonFX.hpp:2485
ctre::phoenix::StatusCode Apply(const HardwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1672
ctre::phoenix::StatusCode Apply(const VoltageConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1238
ctre::phoenix::StatusCode Apply(const FeedbackConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1358
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset()
Clear sticky fault: The remote sensor has reset.
Definition CoreTalonFX.hpp:2584
ctre::phoenix::StatusCode Refresh(DifferentialConstantsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1447
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX()
Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
Definition CoreTalonFX.hpp:2622
ctre::phoenix::StatusCode Refresh(Slot0Configs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2000
ctre::phoenix::StatusCode Refresh(TalonFXConfiguration &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1025
ctre::phoenix::StatusCode Apply(const TorqueCurrentConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1298
ctre::phoenix::StatusCode Apply(const DifferentialSensorsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1432
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition CoreTalonFX.hpp:2957
ctre::phoenix::StatusCode Refresh(HardwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1640
ctre::phoenix::StatusCode Apply(const MotorOutputConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1132
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit()
Clear sticky fault: Reverse limit switch has been asserted.
Definition CoreTalonFX.hpp:2784
ctre::phoenix::StatusCode Refresh(SlotConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:2180
ctre::phoenix::StatusCode Refresh(ClosedLoopRampsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1567
ctre::phoenix::StatusCode Refresh(MotorOutputConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1087
ctre::phoenix::StatusCode Apply(const OpenLoopRampsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1552
ctre::phoenix::StatusCode Refresh(MotionMagicConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1820
ctre::phoenix::StatusCode Apply(const FeedbackConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1372
ctre::phoenix::StatusCode Refresh(CurrentLimitsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1160
ctre::phoenix::StatusCode Apply(const AudioConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1732
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply current limit occured.
Definition CoreTalonFX.hpp:3160
ctre::phoenix::StatusCode Apply(const CurrentLimitsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CoreTalonFX.hpp:1178
ctre::phoenix::StatusCode Refresh(TorqueCurrentConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1280
ctre::phoenix::StatusCode Refresh(HardwareLimitSwitchConfigs &configs) const
Refreshes the values of the specified config group.
Definition CoreTalonFX.hpp:1627
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Forward limit switch has been asserted.
Definition CoreTalonFX.hpp:2840
Configs that affect Torque Current control types.
Definition Configs.hpp:1356
std::string ToString() const override
Definition Configs.hpp:1454
std::string Serialize() const override
Definition Configs.hpp:1464
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:1474
Configs that affect Voltage control types.
Definition Configs.hpp:1206
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:1330
std::string Serialize() const override
Definition Configs.hpp:1320
std::string ToString() const override
Definition Configs.hpp:1310
Request coast neutral output of actuator.
Definition CoastOut.hpp:25
Abstract Control Request class that other control requests extend for use.
Definition ControlRequest.hpp:30
Request a specified motor duty cycle with a differential position closed-loop.
Definition DifferentialDutyCycle.hpp:30
Follow the differential motor output of another Talon.
Definition DifferentialFollower.hpp:28
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition DifferentialMotionMagicDutyCycle.hpp:34
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition DifferentialMotionMagicVoltage.hpp:33
Request PID to target position with a differential position setpoint.
Definition DifferentialPositionDutyCycle.hpp:28
Request PID to target position with a differential position setpoint.
Definition DifferentialPositionVoltage.hpp:28
Follow the differential motor output of another Talon while ignoring the master's invert setting.
Definition DifferentialStrictFollower.hpp:30
Request PID to target velocity with a differential position setpoint.
Definition DifferentialVelocityDutyCycle.hpp:29
Request PID to target velocity with a differential position setpoint.
Definition DifferentialVelocityVoltage.hpp:29
Request a specified voltage with a differential position closed-loop.
Definition DifferentialVoltage.hpp:30
Request a specified motor duty cycle.
Definition DutyCycleOut.hpp:27
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition DynamicMotionMagicDutyCycle.hpp:41
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:40
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition DynamicMotionMagicVoltage.hpp:40
Follow the motor output of another Talon.
Definition Follower.hpp:28
Requests Motion Magic® to target a final position using a motion profile.
Definition MotionMagicDutyCycle.hpp:35
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition MotionMagicExpoDutyCycle.hpp:38
Requires Phoenix Pro; Requests Motion Magic® to target a final position using an exponential motion p...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:38
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition MotionMagicExpoVoltage.hpp:37
Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile.
Definition MotionMagicTorqueCurrentFOC.hpp:35
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityDutyCycle.hpp:42
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:42
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityVoltage.hpp:41
Requests Motion Magic® to target a final position using a motion profile.
Definition MotionMagicVoltage.hpp:34
Plays a single tone at the user specified frequency.
Definition MusicTone.hpp:24
Request neutral output of actuator.
Definition NeutralOut.hpp:25
Request PID to target position with duty cycle feedforward.
Definition PositionDutyCycle.hpp:30
Requires Phoenix Pro; Request PID to target position with torque current feedforward.
Definition PositionTorqueCurrentFOC.hpp:31
Request PID to target position with voltage feedforward.
Definition PositionVoltage.hpp:30
Applies full neutral-brake by shorting motor leads together.
Definition StaticBrake.hpp:24
Follow the motor output of another Talon while ignoring the master's invert setting.
Definition StrictFollower.hpp:30
Requires Phoenix Pro; Request a specified motor current (field oriented control).
Definition TorqueCurrentFOC.hpp:31
Request PID to target velocity with duty cycle feedforward.
Definition VelocityDutyCycle.hpp:30
Requires Phoenix Pro; Request PID to target velocity with torque current feedforward.
Definition VelocityTorqueCurrentFOC.hpp:31
Request PID to target velocity with voltage feedforward.
Definition VelocityVoltage.hpp:30
Request a specified voltage.
Definition VoltageOut.hpp:28
Definition DeviceIdentifier.hpp:19
Parent class for all devices.
Definition ParentDevice.hpp:28
Class description for the Talon FX integrated motor controller.
Definition CoreTalonFX.hpp:3256
StatusSignal< double > & GetDifferentialOutput(bool refresh=true) override
The calculated motor output for differential followers.
ctre::phoenix::StatusCode SetControl(const controls::StrictFollower &request) override
Follow the motor output of another Talon while ignoring the master's invert setting.
StatusSignal< int > & GetVersionBugfix(bool refresh=true) override
App Bugfix Version number.
CoreTalonFX(int deviceId, CANBus canbus)
Constructs a new Talon FX motor controller object.
Definition CoreTalonFX.hpp:3285
StatusSignal< bool > & GetFault_ReverseHardLimit(bool refresh=true) override
Reverse limit switch has been asserted.
StatusSignal< ctre::unit::newton_meters_per_ampere_t > & GetMotorKT(bool refresh=true) override
The torque constant (K_T) of the motor.
ctre::phoenix::StatusCode ClearStickyFault_Hardware(units::time::second_t timeoutSeconds) override
Clear sticky fault: Hardware fault occurred.
Definition CoreTalonFX.hpp:8046
StatusSignal< double > & GetClosedLoopOutput(bool refresh=true) override
Closed loop total output.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_TorqueCurrentFOC_Velocity &request) override
Differential control with torque current average target and velocity difference target.
CoreTalonFX(int deviceId, std::string canbus="")
Constructs a new Talon FX motor controller object.
StatusSignal< int > & GetFaultField(bool refresh=true) override
Integer representing all fault flags reported by the device.
StatusSignal< signals::ConnectedMotorValue > & GetConnectedMotor(bool refresh=true) override
The type of motor attached to the Talon.
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit(units::time::second_t timeoutSeconds) override
Clear sticky fault: Reverse soft limit has been asserted.
Definition CoreTalonFX.hpp:8381
StatusSignal< bool > & GetStickyFault_BridgeBrownout(bool refresh=true) override
Bridge was disabled most likely due to supply voltage dropping too low.
StatusSignal< int > & GetVersionBuild(bool refresh=true) override
App Build Version number.
StatusSignal< bool > & GetStickyFault_MissingHardLimitRemote(bool refresh=true) override
The remote limit switch device is not present on CAN Bus.
StatusSignal< bool > & GetFault_RemoteSensorDataInvalid(bool refresh=true) override
The remote sensor's data is no longer trusted.
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit(units::time::second_t timeoutSeconds) override
Clear sticky fault: Supply current limit occured.
Definition CoreTalonFX.hpp:8558
StatusSignal< bool > & GetFault_SupplyCurrLimit(bool refresh=true) override
Supply current limit occured.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_MotionMagicDutyCycle_Position &request) override
Differential control with Motion Magic® average target and position difference target using dutycycle...
StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialDifferenceVelocity(bool refresh=true) override
Difference component of the differential velocity of device.
StatusSignal< double > & GetClosedLoopDerivativeOutput(bool refresh=true) override
Closed loop derivative component.
StatusSignal< units::current::ampere_t > & GetMotorStallCurrent(bool refresh=true) override
The stall current of the motor at 12 V output.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_PositionTorqueCurrentFOC_Position &request) override
Differential control with position average target and position difference target using torque current...
StatusSignal< bool > & GetFault_UnstableSupplyV(bool refresh=true) override
Supply Voltage is unstable.
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable() override
Clear sticky fault: Device boot while detecting the enable signal.
Definition CoreTalonFX.hpp:8149
ctre::phoenix::StatusCode ClearStickyFaults() override
Clear the sticky faults in the device.
Definition CoreTalonFX.hpp:8035
ctre::phoenix::StatusCode SetControl(const controls::DifferentialFollower &request) override
Follow the differential motor output of another Talon.
StatusSignal< units::current::ampere_t > & GetStatorCurrent(bool refresh=true) override
Current corresponding to the stator windings.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialVoltage &request) override
Request a specified voltage with a differential position closed-loop.
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicVelocityTorqueCurrentFOC &request) override
Requests Motion Magic® to target a final velocity using a motion profile.
ctre::phoenix::StatusCode SetControl(const controls::PositionVoltage &request) override
Request PID to target position with voltage feedforward.
ctre::phoenix::StatusCode SetControl(const controls::TorqueCurrentFOC &request) override
Request a specified motor current (field oriented control).
StatusSignal< units::temperature::celsius_t > & GetProcessorTemp(bool refresh=true) override
Temperature of the processor.
StatusSignal< int > & GetClosedLoopSlot(bool refresh=true) override
The slot that the closed-loop PID is using.
StatusSignal< bool > & GetStickyFault_DeviceTemp(bool refresh=true) override
Device temperature exceeded limit.
StatusSignal< double > & GetDifferentialClosedLoopFeedForward(bool refresh=true) override
Differential Feedforward passed by the user.
StatusSignal< double > & GetClosedLoopReference(bool refresh=true) override
Value that the closed loop is targeting.
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit() override
Clear sticky fault: Supply current limit occured.
Definition CoreTalonFX.hpp:8569
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(units::time::second_t timeoutSeconds) override
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CoreTalonFX.hpp:8113
StatusSignal< units::voltage::volt_t > & GetSupplyVoltage(bool refresh=true) override
Measured supply voltage to the device.
StatusSignal< signals::ForwardLimitValue > & GetForwardLimit(bool refresh=true) override
Forward Limit Pin.
StatusSignal< bool > & GetStickyFault_ProcTemp(bool refresh=true) override
Processor temperature exceeded limit.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_MotionMagicVoltage_Position &request) override
Differential control with Motion Magic® average target and position difference target using voltage c...
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VoltageOut_Position &request) override
Differential control with voltage average target and position difference target.
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote() override
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition CoreTalonFX.hpp:8465
ctre::phoenix::StatusCode ClearStickyFault_StaticBrakeDisabled() override
Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disa...
Definition CoreTalonFX.hpp:8617
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit() override
Clear sticky fault: Stator current limit occured.
Definition CoreTalonFX.hpp:8547
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_PositionDutyCycle_Velocity &request) override
Differential control with position average target and velocity difference target using dutycycle cont...
StatusSignal< int > & GetVersionMajor(bool refresh=true) override
App Major Version number.
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
Definition CoreTalonFX.hpp:8231
StatusSignal< bool > & GetFault_StatorCurrLimit(bool refresh=true) override
Stator current limit occured.
StatusSignal< double > & GetClosedLoopProportionalOutput(bool refresh=true) override
Closed loop proportional component.
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit() override
Clear sticky fault: Reverse limit switch has been asserted.
Definition CoreTalonFX.hpp:8345
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote() override
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition CoreTalonFX.hpp:8441
StatusSignal< bool > & GetStickyFault_SupplyCurrLimit(bool refresh=true) override
Supply current limit occured.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid() override
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition CoreTalonFX.hpp:8495
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync() override
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
Definition CoreTalonFX.hpp:8525
StatusSignal< bool > & GetStickyFault_RemoteSensorPosOverflow(bool refresh=true) override
The remote sensor position has overflowed.
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit(units::time::second_t timeoutSeconds) override
Clear sticky fault: Stator current limit occured.
Definition CoreTalonFX.hpp:8536
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp() override
Clear sticky fault: Processor temperature exceeded limit.
Definition CoreTalonFX.hpp:8079
StatusSignal< signals::AppliedRotorPolarityValue > & GetAppliedRotorPolarity(bool refresh=true) override
The applied rotor polarity as seen from the front of the motor.
ctre::phoenix::StatusCode SetControl(const controls::StaticBrake &request) override
Applies full neutral-brake by shorting motor leads together.
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp() override
Clear sticky fault: Device temperature exceeded limit.
Definition CoreTalonFX.hpp:8101
configs::TalonFXConfigurator const & GetConfigurator() const
Gets the configurator for this TalonFX.
Definition CoreTalonFX.hpp:3308
StatusSignal< bool > & GetStickyFault_FusedSensorOutOfSync(bool refresh=true) override
The remote sensor used for fusion has fallen out of sync to the local sensor.
StatusSignal< bool > & GetFault_ForwardHardLimit(bool refresh=true) override
Forward limit switch has been asserted.
StatusSignal< int > & GetDifferentialClosedLoopSlot(bool refresh=true) override
The slot that the closed-loop differential PID is using.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_DutyCycleOut_Velocity &request) override
Differential control with duty cycle average target and velocity difference target.
StatusSignal< units::angle::turn_t > & GetPosition(bool refresh=true) override
Position of the device in mechanism rotations.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialVelocityVoltage &request) override
Request PID to target velocity with a differential position setpoint.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote sensor position has overflowed.
Definition CoreTalonFX.hpp:8258
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicVoltage &request) override
Requests Motion Magic® to target a final position using a motion profile.
StatusSignal< bool > & GetFault_Undervoltage(bool refresh=true) override
Device supply voltage dropped to near brownout levels.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition CoreTalonFX.hpp:8480
StatusSignal< bool > & GetStickyFault_MissingSoftLimitRemote(bool refresh=true) override
The remote soft limit device is not present on CAN Bus.
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout() override
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
Definition CoreTalonFX.hpp:8197
ctre::phoenix::StatusCode SetControl(const controls::DutyCycleOut &request) override
Request a specified motor duty cycle.
StatusSignal< signals::ReverseLimitValue > & GetReverseLimit(bool refresh=true) override
Reverse Limit Pin.
StatusSignal< bool > & GetFault_UnlicensedFeatureInUse(bool refresh=true) override
An unlicensed feature is in use, device may not behave as expected.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialAverageVelocity(bool refresh=true) override
Average component of the differential velocity of device.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetRotorVelocity(bool refresh=true) override
Velocity of the motor rotor.
ctre::phoenix::StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed() override
Clear sticky fault: Using Fused CANcoder feature while unlicensed.
Definition CoreTalonFX.hpp:8593
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_PositionDutyCycle_Position &request) override
Differential control with position average target and position difference target using dutycycle cont...
StatusSignal< double > & GetDifferentialClosedLoopProportionalOutput(bool refresh=true) override
Differential closed loop proportional component.
StatusSignal< bool > & GetFault_RemoteSensorPosOverflow(bool refresh=true) override
The remote sensor position has overflowed.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow() override
Clear sticky fault: The remote sensor position has overflowed.
Definition CoreTalonFX.hpp:8273
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse(units::time::second_t timeoutSeconds) override
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CoreTalonFX.hpp:8161
StatusSignal< bool > & GetIsProLicensed(bool refresh=true) override
Whether the device is Phoenix Pro licensed.
StatusSignal< bool > & GetStickyFault_Undervoltage(bool refresh=true) override
Device supply voltage dropped to near brownout levels.
StatusSignal< units::angle::turn_t > & GetRotorPosition(bool refresh=true) override
Position of the motor rotor.
ctre::phoenix::StatusCode SetControl(const controls::Follower &request) override
Follow the motor output of another Talon.
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage() override
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CoreTalonFX.hpp:8125
ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds) override
Clear the sticky faults in the device.
Definition CoreTalonFX.hpp:8020
StatusSignal< bool > & GetFault_OverSupplyV(bool refresh=true) override
Supply Voltage has exceeded the maximum voltage rating of device.
StatusSignal< bool > & GetFault_ForwardSoftLimit(bool refresh=true) override
Forward soft limit has been asserted.
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit(units::time::second_t timeoutSeconds) override
Clear sticky fault: Forward soft limit has been asserted.
Definition CoreTalonFX.hpp:8405
ctre::phoenix::StatusCode SetControl(const controls::DynamicMotionMagicDutyCycle &request) override
Requests Motion Magic® to target a final position using a motion profile.
StatusSignal< bool > & GetFault_MissingHardLimitRemote(bool refresh=true) override
The remote limit switch device is not present on CAN Bus.
StatusSignal< int > & GetStickyFaultField(bool refresh=true) override
Integer representing all (persistent) sticky fault flags reported by the device.
StatusSignal< bool > & GetFault_DeviceTemp(bool refresh=true) override
Device temperature exceeded limit.
StatusSignal< signals::ControlModeValue > & GetControlMode(bool refresh=true) override
The active control mode of the motor controller.
StatusSignal< bool > & GetFault_ProcTemp(bool refresh=true) override
Processor temperature exceeded limit.
StatusSignal< units::angle::turn_t > & GetDifferentialAveragePosition(bool refresh=true) override
Average component of the differential position of device.
StatusSignal< bool > & GetFault_MissingSoftLimitRemote(bool refresh=true) override
The remote soft limit device is not present on CAN Bus.
ctre::phoenix::StatusCode SetControl(const controls::PositionDutyCycle &request) override
Request PID to target position with duty cycle feedforward.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetVelocity(bool refresh=true) override
Velocity of the device in mechanism rotations per second.
StatusSignal< bool > & GetStickyFault_OverSupplyV(bool refresh=true) override
Supply Voltage has exceeded the maximum voltage rating of device.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_DutyCycleOut_Position &request) override
Differential control with duty cycle average target and position difference target.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialStrictFollower &request) override
Follow the differential motor output of another Talon while ignoring the master's invert setting.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialPositionVoltage &request) override
Request PID to target position with a differential position setpoint.
StatusSignal< double > & GetClosedLoopFeedForward(bool refresh=true) override
Feedforward passed by the user.
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV() override
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition CoreTalonFX.hpp:8297
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicTorqueCurrentFOC &request) override
Requests Motion Magic® to target a final position using a motion profile.
StatusSignal< bool > & GetStickyFault_UsingFusedCANcoderWhileUnlicensed(bool refresh=true) override
Using Fused CANcoder feature while unlicensed.
StatusSignal< signals::DeviceEnableValue > & GetDeviceEnable(bool refresh=true) override
Indicates if device is actuator enabled.
StatusSignal< bool > & GetStickyFault_ForwardSoftLimit(bool refresh=true) override
Forward soft limit has been asserted.
StatusSignal< double > & GetDifferentialClosedLoopIntegratedOutput(bool refresh=true) override
Differential closed loop integrated component.
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp(units::time::second_t timeoutSeconds) override
Clear sticky fault: Processor temperature exceeded limit.
Definition CoreTalonFX.hpp:8068
StatusSignal< double > & GetDifferentialClosedLoopReference(bool refresh=true) override
Value that the differential closed loop is targeting.
StatusSignal< units::temperature::celsius_t > & GetAncillaryDeviceTemp(bool refresh=true) override
Temperature of device from second sensor.
ctre::phoenix::StatusCode SetControl(const controls::ControlRequest &request) override
Control device with generic control request object.
Definition CoreTalonFX.hpp:7793
ctre::phoenix::StatusCode SetControl(const controls::CoastOut &request) override
Request coast neutral output of actuator.
StatusSignal< signals::MotorOutputStatusValue > & GetMotorOutputStatus(bool refresh=true) override
Assess the status of the motor output with respect to load and supply.
ctre::phoenix::StatusCode SetControl(const controls::VelocityVoltage &request) override
Request PID to target velocity with voltage feedforward.
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicExpoDutyCycle &request) override
Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialMotionMagicDutyCycle &request) override
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
Definition CoreTalonFX.hpp:8510
StatusSignal< signals::RobotEnableValue > & GetRobotEnable(bool refresh=true) override
Indicates if the robot is enabled.
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp(units::time::second_t timeoutSeconds) override
Clear sticky fault: Device temperature exceeded limit.
Definition CoreTalonFX.hpp:8090
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VelocityVoltage_Velocity &request) override
Differential control with velocity average target and velocity difference target using voltage contro...
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &request) override
Differential control with velocity average target and velocity difference target using torque current...
StatusSignal< double > & GetClosedLoopError(bool refresh=true) override
The difference between target reference and current measurement.
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicVelocityVoltage &request) override
Requests Motion Magic® to target a final velocity using a motion profile.
ctre::phoenix::StatusCode ClearStickyFault_Hardware() override
Clear sticky fault: Hardware fault occurred.
Definition CoreTalonFX.hpp:8057
StatusSignal< signals::BridgeOutputValue > & GetBridgeOutput(bool refresh=true) override
The applied output of the bridge.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VoltageOut_Velocity &request) override
Differential control with voltage average target and velocity difference target.
StatusSignal< bool > & GetFault_StaticBrakeDisabled(bool refresh=true) override
Static brake was momentarily disabled due to excessive braking current while disabled.
StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & GetAcceleration(bool refresh=true) override
Acceleration of the device in mechanism rotations per second².
StatusSignal< double > & GetDifferentialClosedLoopOutput(bool refresh=true) override
Differential closed loop total output.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialPositionDutyCycle &request) override
Request PID to target position with a differential position setpoint.
configs::TalonFXConfigurator & GetConfigurator()
Gets the configurator for this TalonFX.
Definition CoreTalonFX.hpp:3296
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_TorqueCurrentFOC_Position &request) override
Differential control with torque current average target and position difference target.
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV() override
Clear sticky fault: Supply Voltage is unstable.
Definition CoreTalonFX.hpp:8321
StatusSignal< bool > & GetStickyFault_BootDuringEnable(bool refresh=true) override
Device boot while detecting the enable signal.
StatusSignal< bool > & GetFault_Hardware(bool refresh=true) override
Hardware fault occurred.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset() override
Clear sticky fault: The remote sensor has reset.
Definition CoreTalonFX.hpp:8219
StatusSignal< units::current::ampere_t > & GetTorqueCurrent(bool refresh=true) override
Current corresponding to the torque output by the motor.
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX() override
Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
Definition CoreTalonFX.hpp:8243
ctre::phoenix::StatusCode SetControl(const controls::DifferentialDutyCycle &request) override
Request a specified motor duty cycle with a differential position closed-loop.
StatusSignal< bool > & GetFault_BridgeBrownout(bool refresh=true) override
Bridge was disabled most likely due to supply voltage dropping too low.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VelocityTorqueCurrentFOC_Position &request) override
Differential control with velocity average target and position difference target using torque current...
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition CoreTalonFX.hpp:8429
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &request) override
Differential control with Motion Magic® average target and position difference target using torque cu...
StatusSignal< bool > & GetStickyFault_UnstableSupplyV(bool refresh=true) override
Supply Voltage is unstable.
StatusSignal< units::temperature::celsius_t > & GetDeviceTemp(bool refresh=true) override
Temperature of device.
ctre::phoenix::StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed(units::time::second_t timeoutSeconds) override
Clear sticky fault: Using Fused CANcoder feature while unlicensed.
Definition CoreTalonFX.hpp:8581
StatusSignal< bool > & GetStickyFault_RemoteSensorReset(bool refresh=true) override
The remote sensor has reset.
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit() override
Clear sticky fault: Forward limit switch has been asserted.
Definition CoreTalonFX.hpp:8369
ctre::phoenix::StatusCode SetControl(const controls::VelocityTorqueCurrentFOC &request) override
Request PID to target velocity with torque current feedforward.
StatusSignal< ctre::unit::rpm_per_volt_t > & GetMotorKV(bool refresh=true) override
The velocity constant (K_V) of the motor.
StatusSignal< bool > & GetStickyFault_ReverseSoftLimit(bool refresh=true) override
Reverse soft limit has been asserted.
ctre::phoenix::StatusCode SetControl(const controls::DifferentialVelocityDutyCycle &request) override
Request PID to target velocity with a differential position setpoint.
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit() override
Clear sticky fault: Reverse soft limit has been asserted.
Definition CoreTalonFX.hpp:8393
ctre::phoenix::StatusCode SetControl(const controls::DynamicMotionMagicVoltage &request) override
Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_MotionMagicVoltage_Velocity &request) override
Differential control with Motion Magic® average target and velocity difference target using voltage c...
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_PositionVoltage_Position &request) override
Differential control with position average target and position difference target using voltage contro...
ctre::phoenix::StatusCode SetControl(const controls::DifferentialMotionMagicVoltage &request) override
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VelocityVoltage_Position &request) override
Differential control with velocity average target and position difference target using voltage contro...
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue, units::time::second_t timeoutSeconds) override
Sets the mechanism position of the device in mechanism rotations.
Definition CoreTalonFX.hpp:7992
StatusSignal< bool > & GetFault_BootDuringEnable(bool refresh=true) override
Device boot while detecting the enable signal.
ctre::phoenix::StatusCode SetControl(const controls::NeutralOut &request) override
Request neutral output of actuator.
StatusSignal< signals::DifferentialControlModeValue > & GetDifferentialControlMode(bool refresh=true) override
The active control mode of the differential controller.
ctre::phoenix::StatusCode ClearStickyFault_StaticBrakeDisabled(units::time::second_t timeoutSeconds) override
Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disa...
Definition CoreTalonFX.hpp:8605
StatusSignal< units::dimensionless::scalar_t > & GetDutyCycle(bool refresh=true) override
The applied motor duty cycle.
StatusSignal< units::angle::turn_t > & GetDifferentialDifferencePosition(bool refresh=true) override
Difference component of the differential position of device.
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit(units::time::second_t timeoutSeconds) override
Clear sticky fault: Forward limit switch has been asserted.
Definition CoreTalonFX.hpp:8357
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV(units::time::second_t timeoutSeconds) override
Clear sticky fault: Supply Voltage is unstable.
Definition CoreTalonFX.hpp:8309
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicExpoTorqueCurrentFOC &request) override
Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicVelocityDutyCycle &request) override
Requests Motion Magic® to target a final velocity using a motion profile.
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit() override
Clear sticky fault: Forward soft limit has been asserted.
Definition CoreTalonFX.hpp:8417
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicDutyCycle &request) override
Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode SetControl(const controls::VoltageOut &request) override
Request a specified voltage.
StatusSignal< int > & GetVersionMinor(bool refresh=true) override
App Minor Version number.
StatusSignal< bool > & GetStickyFault_UnlicensedFeatureInUse(bool refresh=true) override
An unlicensed feature is in use, device may not behave as expected.
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV(units::time::second_t timeoutSeconds) override
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition CoreTalonFX.hpp:8285
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VelocityDutyCycle_Position &request) override
Differential control with velocity average target and position difference target using dutycycle cont...
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse() override
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CoreTalonFX.hpp:8173
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &request) override
Differential control with position average target and velocity difference target using torque current...
StatusSignal< bool > & GetStickyFault_StaticBrakeDisabled(bool refresh=true) override
Static brake was momentarily disabled due to excessive braking current while disabled.
StatusSignal< double > & GetClosedLoopIntegratedOutput(bool refresh=true) override
Closed loop integrated component.
StatusSignal< bool > & GetFault_ReverseSoftLimit(bool refresh=true) override
Reverse soft limit has been asserted.
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit(units::time::second_t timeoutSeconds) override
Clear sticky fault: Reverse limit switch has been asserted.
Definition CoreTalonFX.hpp:8333
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition CoreTalonFX.hpp:8453
StatusSignal< bool > & GetFault_UsingFusedCANcoderWhileUnlicensed(bool refresh=true) override
Using Fused CANcoder feature while unlicensed.
StatusSignal< bool > & GetStickyFault_ReverseHardLimit(bool refresh=true) override
Reverse limit switch has been asserted.
StatusSignal< bool > & GetStickyFault_MissingDifferentialFX(bool refresh=true) override
The remote Talon used for differential control is not present on CAN Bus.
StatusSignal< signals::MotionMagicIsRunningValue > & GetMotionMagicIsRunning(bool refresh=true) override
Check if Motion Magic® is running.
ctre::phoenix::StatusCode SetControl(const controls::PositionTorqueCurrentFOC &request) override
Request PID to target position with torque current feedforward.
StatusSignal< bool > & GetStickyFault_Hardware(bool refresh=true) override
Hardware fault occurred.
StatusSignal< bool > & GetStickyFault_RemoteSensorDataInvalid(bool refresh=true) override
The remote sensor's data is no longer trusted.
ctre::phoenix::StatusCode SetControl(const controls::VelocityDutyCycle &request) override
Request PID to target velocity with duty cycle feedforward.
ctre::phoenix::StatusCode SetControl(const controls::DynamicMotionMagicTorqueCurrentFOC &request) override
Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue) override
Sets the mechanism position of the device in mechanism rotations.
Definition CoreTalonFX.hpp:8005
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_VelocityDutyCycle_Velocity &request) override
Differential control with velocity average target and velocity difference target using dutycycle cont...
StatusSignal< units::voltage::volt_t > & GetMotorVoltage(bool refresh=true) override
The applied (output) motor voltage.
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout(units::time::second_t timeoutSeconds) override
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
Definition CoreTalonFX.hpp:8185
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset(units::time::second_t timeoutSeconds) override
Clear sticky fault: The remote sensor has reset.
Definition CoreTalonFX.hpp:8208
StatusSignal< bool > & GetFault_RemoteSensorReset(bool refresh=true) override
The remote sensor has reset.
StatusSignal< bool > & GetFault_MissingDifferentialFX(bool refresh=true) override
The remote Talon used for differential control is not present on CAN Bus.
ctre::phoenix::StatusCode SetControl(const controls::MotionMagicExpoVoltage &request) override
Requests Motion Magic® to target a final position using an exponential motion profile.
StatusSignal< bool > & GetStickyFault_ForwardHardLimit(bool refresh=true) override
Forward limit switch has been asserted.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_MotionMagicDutyCycle_Velocity &request) override
Differential control with Motion Magic® average target and velocity difference target using dutycycle...
sim::TalonFXSimState & GetSimState()
Get the simulation state for this device.
Definition CoreTalonFX.hpp:3326
StatusSignal< double > & GetClosedLoopReferenceSlope(bool refresh=true) override
Derivative of the target that the closed loop is targeting.
StatusSignal< bool > & GetStickyFault_StatorCurrLimit(bool refresh=true) override
Stator current limit occured.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_PositionVoltage_Velocity &request) override
Differential control with position average target and velocity difference target using voltage contro...
StatusSignal< double > & GetDifferentialClosedLoopError(bool refresh=true) override
The difference between target differential reference and current measurement.
ctre::phoenix::StatusCode SetControl(const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &request) override
Differential control with Motion Magic® average target and velocity difference target using torque cu...
StatusSignal< double > & GetDifferentialClosedLoopReferenceSlope(bool refresh=true) override
Derivative of the target that the differential closed loop is targeting.
StatusSignal< double > & GetDifferentialClosedLoopDerivativeOutput(bool refresh=true) override
Differential closed loop derivative component.
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(units::time::second_t timeoutSeconds) override
Clear sticky fault: Device boot while detecting the enable signal.
Definition CoreTalonFX.hpp:8137
ctre::phoenix::StatusCode SetControl(const controls::MusicTone &request) override
Plays a single tone at the user specified frequency.
StatusSignal< bool > & GetFault_FusedSensorOutOfSync(bool refresh=true) override
The remote sensor used for fusion has fallen out of sync to the local sensor.
StatusSignal< units::current::ampere_t > & GetSupplyCurrent(bool refresh=true) override
Measured supply side current.
StatusSignal< int > & GetVersion(bool refresh=true) override
Full Version of firmware in device.
Contains everything common between Talon motor controllers that support FOC (requires Phoenix Pro).
Definition CommonTalonWithFOC.hpp:27
Class to control the state of a simulated hardware::TalonFX.
Definition TalonFXSimState.hpp:33
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
static constexpr int OK
No Error.
Definition StatusCodes.h:34
static constexpr int NotSupported
This is not supported.
Definition StatusCodes.h:652
Definition Diff_PositionDutyCycle_Position.hpp:15