ctre::phoenix6::configs::CommutationConfigs Class Reference

Configs that determine motor selection and commutation. More...

#include <ctre/phoenix6/configs/Configs.hpp>

Inheritance diagram for ctre::phoenix6::configs::CommutationConfigs:

Public Member Functions
constexpr	CommutationConfigs ()=default
constexpr CommutationConfigs &	WithAdvancedHallSupport (signals::AdvancedHallSupportValue newAdvancedHallSupport)
	Modifies this configuration's AdvancedHallSupport parameter and returns itself for method-chaining and easier to use config API.
constexpr CommutationConfigs &	WithMotorArrangement (signals::MotorArrangementValue newMotorArrangement)
	Modifies this configuration's MotorArrangement parameter and returns itself for method-chaining and easier to use config API.
constexpr CommutationConfigs &	WithBrushedMotorWiring (signals::BrushedMotorWiringValue newBrushedMotorWiring)
	Modifies this configuration's BrushedMotorWiring parameter and returns itself for method-chaining and easier to use config API.
std::string	ToString () const override
std::string	Serialize () const override
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override
Public Member Functions inherited from ctre::phoenix6::configs::ParentConfiguration
Public Member Functions inherited from ctre::phoenix6::ISerializable

Public Attributes
signals::AdvancedHallSupportValue	AdvancedHallSupport = signals::AdvancedHallSupportValue::Disabled
	Requires Phoenix Pro; Improves commutation and velocity measurement for motors with hall sensors.
signals::MotorArrangementValue	MotorArrangement = signals::MotorArrangementValue::Disabled
	Selects the motor and motor connections used with Talon.
signals::BrushedMotorWiringValue	BrushedMotorWiring = signals::BrushedMotorWiringValue::Leads_A_and_B
	If a brushed motor is selected with Motor Arrangement, this config determines which of three leads to use.

Detailed Description

Configs that determine motor selection and commutation.

Set these configs to match your motor setup before commanding motor output.

Constructor & Destructor Documentation

CommutationConfigs()

ctre::phoenix6::configs::CommutationConfigs::CommutationConfigs ( )

constexprdefault

Member Function Documentation

Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::CommutationConfigs::Deserialize ( const std::string & to_deserialize )

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

Serialize()

std::string ctre::phoenix6::configs::CommutationConfigs::Serialize ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::configs::CommutationConfigs::ToString ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

WithAdvancedHallSupport()

CommutationConfigs & ctre::phoenix6::configs::CommutationConfigs::WithAdvancedHallSupport ( signals::AdvancedHallSupportValue newAdvancedHallSupport )

inlineconstexpr

Modifies this configuration's AdvancedHallSupport parameter and returns itself for method-chaining and easier to use config API.

Requires Phoenix Pro; Improves commutation and velocity measurement for motors with hall sensors. Talon can use advanced features to improve commutation and velocity measurement when using a motor with hall sensors. This can improve peak efficiency by as high as 2% and reduce noise in the measured velocity.

Parameters

newAdvancedHallSupport

Parameter to modify

Returns

Itself

WithBrushedMotorWiring()

CommutationConfigs & ctre::phoenix6::configs::CommutationConfigs::WithBrushedMotorWiring ( signals::BrushedMotorWiringValue newBrushedMotorWiring )

inlineconstexpr

Modifies this configuration's BrushedMotorWiring parameter and returns itself for method-chaining and easier to use config API.

If a brushed motor is selected with Motor Arrangement, this config determines which of three leads to use.

Parameters

newBrushedMotorWiring

Parameter to modify

Returns

Itself

WithMotorArrangement()

CommutationConfigs & ctre::phoenix6::configs::CommutationConfigs::WithMotorArrangement ( signals::MotorArrangementValue newMotorArrangement )

inlineconstexpr

Modifies this configuration's MotorArrangement parameter and returns itself for method-chaining and easier to use config API.

Selects the motor and motor connections used with Talon.

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

Motor drive will not function correctly if this setting does not match the physical setup.

Parameters

newMotorArrangement

Parameter to modify

Returns

Itself

Member Data Documentation

AdvancedHallSupport

signals::AdvancedHallSupportValue ctre::phoenix6::configs::CommutationConfigs::AdvancedHallSupport = signals::AdvancedHallSupportValue::Disabled

Requires Phoenix Pro; Improves commutation and velocity measurement for motors with hall sensors.

Talon can use advanced features to improve commutation and velocity measurement when using a motor with hall sensors. This can improve peak efficiency by as high as 2% and reduce noise in the measured velocity.

BrushedMotorWiring

signals::BrushedMotorWiringValue ctre::phoenix6::configs::CommutationConfigs::BrushedMotorWiring = signals::BrushedMotorWiringValue::Leads_A_and_B

If a brushed motor is selected with Motor Arrangement, this config determines which of three leads to use.

MotorArrangement

signals::MotorArrangementValue ctre::phoenix6::configs::CommutationConfigs::MotorArrangement = signals::MotorArrangementValue::Disabled

Selects the motor and motor connections used with Talon.

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

Motor drive will not function correctly if this setting does not match the physical setup.

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The documentation for this class was generated from the following file:

• ctre/phoenix6/configs/Configs.hpp