11#include <units/angle.h>
12#include <units/angular_acceleration.h>
13#include <units/angular_velocity.h>
14#include <units/current.h>
15#include <units/voltage.h>
Class description for the Talon FX integrated motor controller.
Definition CoreTalonFX.hpp:2932
Class to control the state of a simulated hardware::TalonFX.
Definition TalonFXSimState.hpp:33
units::current::ampere_t GetSupplyCurrent() const
Gets the simulated supply current of the TalonFX.
ctre::phoenix::StatusCode SetRotorAcceleration(units::angular_acceleration::turns_per_second_squared_t rpss)
Sets the simulated rotor acceleration of the TalonFX.
ctre::phoenix::StatusCode SetRawRotorPosition(units::angle::turn_t rotations)
Sets the simulated raw rotor position of the TalonFX.
units::voltage::volt_t GetMotorVoltage() const
Gets the simulated output voltage of the motor.
ctre::phoenix::StatusCode AddRotorPosition(units::angle::turn_t dRotations)
Adds to the simulated rotor position of the TalonFX.
ctre::phoenix::StatusCode SetRotorVelocity(units::angular_velocity::turns_per_second_t rps)
Sets the simulated rotor velocity of the TalonFX.
TalonFXSimState(TalonFXSimState &&)=default
units::current::ampere_t GetTorqueCurrent() const
Gets the simulated output torque current of the motor.
ctre::phoenix::StatusCode SetForwardLimit(bool closed)
Sets the simulated forward limit switch of the TalonFX.
ctre::phoenix::StatusCode SetSupplyVoltage(units::voltage::volt_t volts)
Sets the simulated supply voltage of the TalonFX.
TalonFXSimState(hardware::core::CoreTalonFX const &device, ChassisReference orientation)
Creates an object to control the state of the given hardware::TalonFX.
ctre::phoenix::StatusCode SetReverseLimit(bool closed)
Sets the simulated reverse limit switch of the TalonFX.
ChassisReference Orientation
The orientation of the TalonFX relative to the robot chassis.
Definition TalonFXSimState.hpp:45
TalonFXSimState & operator=(TalonFXSimState const &)=delete
TalonFXSimState & operator=(TalonFXSimState &&)=default
ctre::phoenix::StatusCode GetLastStatusCode() const
Gets the last status code generated by a simulation function.
TalonFXSimState(TalonFXSimState const &)=delete
TalonFXSimState(hardware::core::CoreTalonFX const &device)
Creates an object to control the state of the given hardware::TalonFX.
Definition TalonFXSimState.hpp:56
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
ChassisReference
Represents the orientation of a device relative to the robot chassis.
Definition ChassisReference.hpp:16
@ CounterClockwise_Positive
The device should read a counter-clockwise rotation as positive motion.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18