ctre::phoenix6::configs::DifferentialSensorsConfigs Class Reference

Configs related to sensors used for differential control of a mechanism. More...

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

Inheritance diagram for ctre::phoenix6::configs::DifferentialSensorsConfigs:

Public Member Functions
DifferentialSensorsConfigs &	WithDifferentialSensorSource (signals::DifferentialSensorSourceValue newDifferentialSensorSource)
	Modifies this configuration's DifferentialSensorSource parameter and returns itself for method-chaining and easier to use config API. More...
DifferentialSensorsConfigs &	WithDifferentialTalonFXSensorID (int newDifferentialTalonFXSensorID)
	Modifies this configuration's DifferentialTalonFXSensorID parameter and returns itself for method-chaining and easier to use config API. More...
DifferentialSensorsConfigs &	WithDifferentialRemoteSensorID (int newDifferentialRemoteSensorID)
	Modifies this configuration's DifferentialRemoteSensorID parameter and returns itself for method-chaining and easier to use config API. More...
std::string	ToString () const override
std::string	Serialize () const override
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override
virtual std::string	ToString () const =0
virtual ctre::phoenix::StatusCode	Deserialize (const std::string &string)=0
virtual std::string	Serialize () const =0

Public Attributes
signals::DifferentialSensorSourceValue	DifferentialSensorSource = signals::DifferentialSensorSourceValue::Disabled
	Choose what sensor source is used for differential control of a mechanism. More...
int	DifferentialTalonFXSensorID = 0
	Device ID of which remote Talon FX to use. More...
int	DifferentialRemoteSensorID = 0
	Device ID of which remote sensor to use on the differential axis. More...

Detailed Description

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

Member Function Documentation

Deserialize()

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

inlineoverridevirtual

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

Serialize()

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

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

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

inlineoverridevirtual

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

WithDifferentialRemoteSensorID()

DifferentialSensorsConfigs & ctre::phoenix6::configs::DifferentialSensorsConfigs::WithDifferentialRemoteSensorID ( int  newDifferentialRemoteSensorID )

inline

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

Parameters

newDifferentialRemoteSensorID

Parameter to modify

Returns

Itself

WithDifferentialSensorSource()

DifferentialSensorsConfigs & ctre::phoenix6::configs::DifferentialSensorsConfigs::WithDifferentialSensorSource ( signals::DifferentialSensorSourceValue  newDifferentialSensorSource )

inline

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

Parameters

newDifferentialSensorSource

Parameter to modify

Returns

Itself

WithDifferentialTalonFXSensorID()

DifferentialSensorsConfigs & ctre::phoenix6::configs::DifferentialSensorsConfigs::WithDifferentialTalonFXSensorID ( int  newDifferentialTalonFXSensorID )

inline

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

Parameters

newDifferentialTalonFXSensorID

Parameter to modify

Returns

Itself

Member Data Documentation

DifferentialRemoteSensorID

int ctre::phoenix6::configs::DifferentialSensorsConfigs::DifferentialRemoteSensorID = 0

Device ID of which remote sensor to use on the differential axis.

This is used when the Differential Sensor Source is not RemoteTalonFX_Diff.

Minimum Value: 0 Maximum Value: 62 Default Value: 0 Units:

DifferentialSensorSource

signals::DifferentialSensorSourceValue ctre::phoenix6::configs::DifferentialSensorsConfigs::DifferentialSensorSource = signals::DifferentialSensorSourceValue::Disabled

Choose what sensor source is used for differential control of a mechanism.

The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets. Choose RemoteTalonFX_Diff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output. Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees. Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.

DifferentialTalonFXSensorID

int ctre::phoenix6::configs::DifferentialSensorsConfigs::DifferentialTalonFXSensorID = 0

Device ID of which remote Talon FX to use.

This is used when the Differential Sensor Source is not disabled.

Minimum Value: 0 Maximum Value: 62 Default Value: 0 Units:

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

• ctre/phoenix6/configs/Configs.hpp