ctre::phoenix6::configs::TalonFXConfiguration Class Reference

Class description for the Talon FX integrated motor controller. More...

#include <ctre/phoenix6/core/CoreTalonFX.hpp>

Inheritance diagram for ctre::phoenix6::configs::TalonFXConfiguration:

Public Member Functions
constexpr	TalonFXConfiguration ()=default
constexpr TalonFXConfiguration &	WithMotorOutput (MotorOutputConfigs newMotorOutput)
	Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithCurrentLimits (CurrentLimitsConfigs newCurrentLimits)
	Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithVoltage (VoltageConfigs newVoltage)
	Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithTorqueCurrent (TorqueCurrentConfigs newTorqueCurrent)
	Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithFeedback (FeedbackConfigs newFeedback)
	Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithDifferentialSensors (DifferentialSensorsConfigs newDifferentialSensors)
	Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithDifferentialConstants (DifferentialConstantsConfigs newDifferentialConstants)
	Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithOpenLoopRamps (OpenLoopRampsConfigs newOpenLoopRamps)
	Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithClosedLoopRamps (ClosedLoopRampsConfigs newClosedLoopRamps)
	Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithHardwareLimitSwitch (HardwareLimitSwitchConfigs newHardwareLimitSwitch)
	Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithAudio (AudioConfigs newAudio)
	Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithSoftwareLimitSwitch (SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)
	Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithMotionMagic (MotionMagicConfigs newMotionMagic)
	Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithCustomParams (CustomParamsConfigs newCustomParams)
	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithClosedLoopGeneral (ClosedLoopGeneralConfigs newClosedLoopGeneral)
	Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithSlot0 (Slot0Configs newSlot0)
	Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithSlot1 (Slot1Configs newSlot1)
	Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.
constexpr TalonFXConfiguration &	WithSlot2 (Slot2Configs newSlot2)
	Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.
std::string	ToString () const
	Get the string representation of this configuration.
std::string	Serialize () const
	Get the serialized form of this configuration.
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize)
	Take a string and deserialize it to this configuration.
Public Member Functions inherited from ctre::phoenix6::configs::ParentConfiguration
Public Member Functions inherited from ctre::phoenix6::ISerializable

Public Attributes
bool	FutureProofConfigs {true}
	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
MotorOutputConfigs	MotorOutput
	Configs that directly affect motor output.
CurrentLimitsConfigs	CurrentLimits
	Configs that directly affect current limiting features.
VoltageConfigs	Voltage
	Configs that affect Voltage control types.
TorqueCurrentConfigs	TorqueCurrent
	Configs that affect Torque Current control types.
FeedbackConfigs	Feedback
	Configs that affect the feedback of this motor controller.
DifferentialSensorsConfigs	DifferentialSensors
	Configs related to sensors used for differential control of a mechanism.
DifferentialConstantsConfigs	DifferentialConstants
	Configs related to constants used for differential control of a mechanism.
OpenLoopRampsConfigs	OpenLoopRamps
	Configs that affect the open-loop control of this motor controller.
ClosedLoopRampsConfigs	ClosedLoopRamps
	Configs that affect the closed-loop control of this motor controller.
HardwareLimitSwitchConfigs	HardwareLimitSwitch
	Configs that change how the motor controller behaves under different limit switch states.
AudioConfigs	Audio
	Configs that affect audible components of the device.
SoftwareLimitSwitchConfigs	SoftwareLimitSwitch
	Configs that affect how software-limit switches behave.
MotionMagicConfigs	MotionMagic
	Configs for Motion Magic®.
CustomParamsConfigs	CustomParams
	Custom Params.
ClosedLoopGeneralConfigs	ClosedLoopGeneral
	Configs that affect general behavior during closed-looping.
Slot0Configs	Slot0
	Gains for the specified slot.
Slot1Configs	Slot1
	Gains for the specified slot.
Slot2Configs	Slot2
	Gains for the specified slot.

Detailed Description

Class description for the Talon FX integrated motor controller.

This handles the configurations for the hardware::TalonFX

Constructor & Destructor Documentation

TalonFXConfiguration()

ctre::phoenix6::configs::TalonFXConfiguration::TalonFXConfiguration ( )

constexprdefault

Member Function Documentation

Deserialize()

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

inlinevirtual

Take a string and deserialize it to this configuration.

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

Serialize()

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

inlinevirtual

Get the serialized form of this configuration.

Implements ctre::phoenix6::ISerializable.

ToString()

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

inlinevirtual

Get the string representation of this configuration.

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

WithAudio()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithAudio ( AudioConfigs newAudio )

inlineconstexpr

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

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

• AudioConfigs::BeepOnBoot
• AudioConfigs::BeepOnConfig
• AudioConfigs::AllowMusicDurDisable

Parameters

newAudio

Parameter to modify

Returns

Itself

WithClosedLoopGeneral()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithClosedLoopGeneral ( ClosedLoopGeneralConfigs newClosedLoopGeneral )

inlineconstexpr

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

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

• ClosedLoopGeneralConfigs::ContinuousWrap

Parameters

newClosedLoopGeneral

Parameter to modify

Returns

Itself

WithClosedLoopRamps()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithClosedLoopRamps ( ClosedLoopRampsConfigs newClosedLoopRamps )

inlineconstexpr

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

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameter list:

• ClosedLoopRampsConfigs::DutyCycleClosedLoopRampPeriod
• ClosedLoopRampsConfigs::VoltageClosedLoopRampPeriod
• ClosedLoopRampsConfigs::TorqueClosedLoopRampPeriod

Parameters

newClosedLoopRamps

Parameter to modify

Returns

Itself

WithCurrentLimits()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithCurrentLimits ( CurrentLimitsConfigs newCurrentLimits )

inlineconstexpr

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

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameter list:

• CurrentLimitsConfigs::StatorCurrentLimit
• CurrentLimitsConfigs::StatorCurrentLimitEnable
• CurrentLimitsConfigs::SupplyCurrentLimit
• CurrentLimitsConfigs::SupplyCurrentLimitEnable
• CurrentLimitsConfigs::SupplyCurrentLowerLimit
• CurrentLimitsConfigs::SupplyCurrentLowerTime

Parameters

newCurrentLimits

Parameter to modify

Returns

Itself

WithCustomParams()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithCustomParams ( CustomParamsConfigs newCustomParams )

inlineconstexpr

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

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs::CustomParam0
• CustomParamsConfigs::CustomParam1

Parameters

newCustomParams

Parameter to modify

Returns

Itself

WithDifferentialConstants()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithDifferentialConstants ( DifferentialConstantsConfigs newDifferentialConstants )

inlineconstexpr

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

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

Includes the differential peak outputs.

Parameter list:

• DifferentialConstantsConfigs::PeakDifferentialDutyCycle
• DifferentialConstantsConfigs::PeakDifferentialVoltage
• DifferentialConstantsConfigs::PeakDifferentialTorqueCurrent

Parameters

newDifferentialConstants

Parameter to modify

Returns

Itself

WithDifferentialSensors()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithDifferentialSensors ( DifferentialSensorsConfigs newDifferentialSensors )

inlineconstexpr

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

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

Includes the differential sensor sources and IDs.

Parameter list:

• DifferentialSensorsConfigs::DifferentialSensorSource
• DifferentialSensorsConfigs::DifferentialTalonFXSensorID
• DifferentialSensorsConfigs::DifferentialRemoteSensorID

Parameters

newDifferentialSensors

Parameter to modify

Returns

Itself

WithFeedback()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithFeedback ( FeedbackConfigs newFeedback )

inlineconstexpr

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

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

Parameter list:

• FeedbackConfigs::FeedbackRotorOffset
• FeedbackConfigs::SensorToMechanismRatio
• FeedbackConfigs::RotorToSensorRatio
• FeedbackConfigs::FeedbackSensorSource
• FeedbackConfigs::FeedbackRemoteSensorID
• FeedbackConfigs::VelocityFilterTimeConstant

Parameters

newFeedback

Parameter to modify

Returns

Itself

WithHardwareLimitSwitch()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithHardwareLimitSwitch ( HardwareLimitSwitchConfigs newHardwareLimitSwitch )

inlineconstexpr

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

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameter list:

• HardwareLimitSwitchConfigs::ForwardLimitType
• HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionValue
• HardwareLimitSwitchConfigs::ForwardLimitEnable
• HardwareLimitSwitchConfigs::ForwardLimitSource
• HardwareLimitSwitchConfigs::ForwardLimitRemoteSensorID
• HardwareLimitSwitchConfigs::ReverseLimitType
• HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionValue
• HardwareLimitSwitchConfigs::ReverseLimitEnable
• HardwareLimitSwitchConfigs::ReverseLimitSource
• HardwareLimitSwitchConfigs::ReverseLimitRemoteSensorID

Parameters

newHardwareLimitSwitch

Parameter to modify

Returns

Itself

WithMotionMagic()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithMotionMagic ( MotionMagicConfigs newMotionMagic )

inlineconstexpr

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

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

• MotionMagicConfigs::MotionMagicCruiseVelocity
• MotionMagicConfigs::MotionMagicAcceleration
• MotionMagicConfigs::MotionMagicJerk
• MotionMagicConfigs::MotionMagicExpo_kV
• MotionMagicConfigs::MotionMagicExpo_kA

Parameters

newMotionMagic

Parameter to modify

Returns

Itself

WithMotorOutput()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithMotorOutput ( MotorOutputConfigs newMotorOutput )

inlineconstexpr

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

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameter list:

• MotorOutputConfigs::Inverted
• MotorOutputConfigs::NeutralMode
• MotorOutputConfigs::DutyCycleNeutralDeadband
• MotorOutputConfigs::PeakForwardDutyCycle
• MotorOutputConfigs::PeakReverseDutyCycle
• MotorOutputConfigs::ControlTimesyncFreqHz

Parameters

newMotorOutput

Parameter to modify

Returns

Itself

WithOpenLoopRamps()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithOpenLoopRamps ( OpenLoopRampsConfigs newOpenLoopRamps )

inlineconstexpr

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

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameter list:

• OpenLoopRampsConfigs::DutyCycleOpenLoopRampPeriod
• OpenLoopRampsConfigs::VoltageOpenLoopRampPeriod
• OpenLoopRampsConfigs::TorqueOpenLoopRampPeriod

Parameters

newOpenLoopRamps

Parameter to modify

Returns

Itself

WithSlot0()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSlot0 ( Slot0Configs newSlot0 )

inlineconstexpr

Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot0Configs::kP
• Slot0Configs::kI
• Slot0Configs::kD
• Slot0Configs::kS
• Slot0Configs::kV
• Slot0Configs::kA
• Slot0Configs::kG
• Slot0Configs::GravityType
• Slot0Configs::StaticFeedforwardSign

Parameters

newSlot0

Parameter to modify

Returns

Itself

WithSlot1()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSlot1 ( Slot1Configs newSlot1 )

inlineconstexpr

Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot1Configs::kP
• Slot1Configs::kI
• Slot1Configs::kD
• Slot1Configs::kS
• Slot1Configs::kV
• Slot1Configs::kA
• Slot1Configs::kG
• Slot1Configs::GravityType
• Slot1Configs::StaticFeedforwardSign

Parameters

newSlot1

Parameter to modify

Returns

Itself

WithSlot2()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSlot2 ( Slot2Configs newSlot2 )

inlineconstexpr

Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot2Configs::kP
• Slot2Configs::kI
• Slot2Configs::kD
• Slot2Configs::kS
• Slot2Configs::kV
• Slot2Configs::kA
• Slot2Configs::kG
• Slot2Configs::GravityType
• Slot2Configs::StaticFeedforwardSign

Parameters

newSlot2

Parameter to modify

Returns

Itself

WithSoftwareLimitSwitch()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithSoftwareLimitSwitch ( SoftwareLimitSwitchConfigs newSoftwareLimitSwitch )

inlineconstexpr

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

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameter list:

• SoftwareLimitSwitchConfigs::ForwardSoftLimitEnable
• SoftwareLimitSwitchConfigs::ReverseSoftLimitEnable
• SoftwareLimitSwitchConfigs::ForwardSoftLimitThreshold
• SoftwareLimitSwitchConfigs::ReverseSoftLimitThreshold

Parameters

newSoftwareLimitSwitch

Parameter to modify

Returns

Itself

WithTorqueCurrent()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithTorqueCurrent ( TorqueCurrentConfigs newTorqueCurrent )

inlineconstexpr

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

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Parameter list:

• TorqueCurrentConfigs::PeakForwardTorqueCurrent
• TorqueCurrentConfigs::PeakReverseTorqueCurrent
• TorqueCurrentConfigs::TorqueNeutralDeadband

Parameters

newTorqueCurrent

Parameter to modify

Returns

Itself

WithVoltage()

TalonFXConfiguration & ctre::phoenix6::configs::TalonFXConfiguration::WithVoltage ( VoltageConfigs newVoltage )

inlineconstexpr

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

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

• VoltageConfigs::SupplyVoltageTimeConstant
• VoltageConfigs::PeakForwardVoltage
• VoltageConfigs::PeakReverseVoltage

Parameters

newVoltage

Parameter to modify

Returns

Itself

Member Data Documentation

Audio

AudioConfigs ctre::phoenix6::configs::TalonFXConfiguration::Audio

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

• AudioConfigs::BeepOnBoot
• AudioConfigs::BeepOnConfig
• AudioConfigs::AllowMusicDurDisable

ClosedLoopGeneral

ClosedLoopGeneralConfigs ctre::phoenix6::configs::TalonFXConfiguration::ClosedLoopGeneral

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

• ClosedLoopGeneralConfigs::ContinuousWrap

ClosedLoopRamps

ClosedLoopRampsConfigs ctre::phoenix6::configs::TalonFXConfiguration::ClosedLoopRamps

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameter list:

• ClosedLoopRampsConfigs::DutyCycleClosedLoopRampPeriod
• ClosedLoopRampsConfigs::VoltageClosedLoopRampPeriod
• ClosedLoopRampsConfigs::TorqueClosedLoopRampPeriod

CurrentLimits

CurrentLimitsConfigs ctre::phoenix6::configs::TalonFXConfiguration::CurrentLimits

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameter list:

• CurrentLimitsConfigs::StatorCurrentLimit
• CurrentLimitsConfigs::StatorCurrentLimitEnable
• CurrentLimitsConfigs::SupplyCurrentLimit
• CurrentLimitsConfigs::SupplyCurrentLimitEnable
• CurrentLimitsConfigs::SupplyCurrentLowerLimit
• CurrentLimitsConfigs::SupplyCurrentLowerTime

CustomParams

CustomParamsConfigs ctre::phoenix6::configs::TalonFXConfiguration::CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs::CustomParam0
• CustomParamsConfigs::CustomParam1

DifferentialConstants

DifferentialConstantsConfigs ctre::phoenix6::configs::TalonFXConfiguration::DifferentialConstants

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

Includes the differential peak outputs.

Parameter list:

• DifferentialConstantsConfigs::PeakDifferentialDutyCycle
• DifferentialConstantsConfigs::PeakDifferentialVoltage
• DifferentialConstantsConfigs::PeakDifferentialTorqueCurrent

DifferentialSensors

DifferentialSensorsConfigs ctre::phoenix6::configs::TalonFXConfiguration::DifferentialSensors

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

Includes the differential sensor sources and IDs.

Parameter list:

• DifferentialSensorsConfigs::DifferentialSensorSource
• DifferentialSensorsConfigs::DifferentialTalonFXSensorID
• DifferentialSensorsConfigs::DifferentialRemoteSensorID

Feedback

FeedbackConfigs ctre::phoenix6::configs::TalonFXConfiguration::Feedback

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

Parameter list:

• FeedbackConfigs::FeedbackRotorOffset
• FeedbackConfigs::SensorToMechanismRatio
• FeedbackConfigs::RotorToSensorRatio
• FeedbackConfigs::FeedbackSensorSource
• FeedbackConfigs::FeedbackRemoteSensorID
• FeedbackConfigs::VelocityFilterTimeConstant

FutureProofConfigs

bool ctre::phoenix6::configs::TalonFXConfiguration::FutureProofConfigs {true}

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

HardwareLimitSwitch

HardwareLimitSwitchConfigs ctre::phoenix6::configs::TalonFXConfiguration::HardwareLimitSwitch

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameter list:

• HardwareLimitSwitchConfigs::ForwardLimitType
• HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionValue
• HardwareLimitSwitchConfigs::ForwardLimitEnable
• HardwareLimitSwitchConfigs::ForwardLimitSource
• HardwareLimitSwitchConfigs::ForwardLimitRemoteSensorID
• HardwareLimitSwitchConfigs::ReverseLimitType
• HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionValue
• HardwareLimitSwitchConfigs::ReverseLimitEnable
• HardwareLimitSwitchConfigs::ReverseLimitSource
• HardwareLimitSwitchConfigs::ReverseLimitRemoteSensorID

MotionMagic

MotionMagicConfigs ctre::phoenix6::configs::TalonFXConfiguration::MotionMagic

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

• MotionMagicConfigs::MotionMagicCruiseVelocity
• MotionMagicConfigs::MotionMagicAcceleration
• MotionMagicConfigs::MotionMagicJerk
• MotionMagicConfigs::MotionMagicExpo_kV
• MotionMagicConfigs::MotionMagicExpo_kA

MotorOutput

MotorOutputConfigs ctre::phoenix6::configs::TalonFXConfiguration::MotorOutput

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameter list:

• MotorOutputConfigs::Inverted
• MotorOutputConfigs::NeutralMode
• MotorOutputConfigs::DutyCycleNeutralDeadband
• MotorOutputConfigs::PeakForwardDutyCycle
• MotorOutputConfigs::PeakReverseDutyCycle
• MotorOutputConfigs::ControlTimesyncFreqHz

OpenLoopRamps

OpenLoopRampsConfigs ctre::phoenix6::configs::TalonFXConfiguration::OpenLoopRamps

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameter list:

• OpenLoopRampsConfigs::DutyCycleOpenLoopRampPeriod
• OpenLoopRampsConfigs::VoltageOpenLoopRampPeriod
• OpenLoopRampsConfigs::TorqueOpenLoopRampPeriod

Slot0

Slot0Configs ctre::phoenix6::configs::TalonFXConfiguration::Slot0

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot0Configs::kP
• Slot0Configs::kI
• Slot0Configs::kD
• Slot0Configs::kS
• Slot0Configs::kV
• Slot0Configs::kA
• Slot0Configs::kG
• Slot0Configs::GravityType
• Slot0Configs::StaticFeedforwardSign

Slot1

Slot1Configs ctre::phoenix6::configs::TalonFXConfiguration::Slot1

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot1Configs::kP
• Slot1Configs::kI
• Slot1Configs::kD
• Slot1Configs::kS
• Slot1Configs::kV
• Slot1Configs::kA
• Slot1Configs::kG
• Slot1Configs::GravityType
• Slot1Configs::StaticFeedforwardSign

Slot2

Slot2Configs ctre::phoenix6::configs::TalonFXConfiguration::Slot2

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot2Configs::kP
• Slot2Configs::kI
• Slot2Configs::kD
• Slot2Configs::kS
• Slot2Configs::kV
• Slot2Configs::kA
• Slot2Configs::kG
• Slot2Configs::GravityType
• Slot2Configs::StaticFeedforwardSign

SoftwareLimitSwitch

SoftwareLimitSwitchConfigs ctre::phoenix6::configs::TalonFXConfiguration::SoftwareLimitSwitch

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameter list:

• SoftwareLimitSwitchConfigs::ForwardSoftLimitEnable
• SoftwareLimitSwitchConfigs::ReverseSoftLimitEnable
• SoftwareLimitSwitchConfigs::ForwardSoftLimitThreshold
• SoftwareLimitSwitchConfigs::ReverseSoftLimitThreshold

TorqueCurrent

TorqueCurrentConfigs ctre::phoenix6::configs::TalonFXConfiguration::TorqueCurrent

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Parameter list:

• TorqueCurrentConfigs::PeakForwardTorqueCurrent
• TorqueCurrentConfigs::PeakReverseTorqueCurrent
• TorqueCurrentConfigs::TorqueNeutralDeadband

Voltage

VoltageConfigs ctre::phoenix6::configs::TalonFXConfiguration::Voltage

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

• VoltageConfigs::SupplyVoltageTimeConstant
• VoltageConfigs::PeakForwardVoltage
• VoltageConfigs::PeakReverseVoltage

---

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

• ctre/phoenix6/core/CoreTalonFX.hpp