CTRE Phoenix 6 C++ 24.3.0
ctre::phoenix6::hardware::TalonFX Class Reference

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

#include <ctre/phoenix6/TalonFX.hpp>

Inheritance diagram for ctre::phoenix6::hardware::TalonFX:
ctre::phoenix6::hardware::core::CoreTalonFX ctre::phoenix6::hardware::ParentDevice

Public Member Functions

 TalonFX (int deviceId, std::string canbus="")
 Constructs a new Talon FX motor controller object. More...
 
 ~TalonFX ()
 
 TalonFX (TalonFX &&)=default
 
TalonFXoperator= (TalonFX &&)=default
 
void Set (double speed) override
 Common interface for setting the speed of a motor controller. More...
 
void SetVoltage (units::volt_t volts) override
 Common interface for seting the direct voltage output of a motor controller. More...
 
double Get () const override
 Common interface for getting the current set speed of a motor controller. More...
 
void Disable () override
 Common interface for disabling a motor controller. More...
 
void StopMotor () override
 Common interface to stop motor movement until Set is called again. More...
 
void SetInverted (bool isInverted) override
 Common interface for inverting direction of a motor controller. More...
 
bool GetInverted () const override
 Common interface for returning the inversion state of a motor controller. More...
 
void SetNeutralMode (signals::NeutralModeValue neutralMode)
 Sets the mode of operation when output is neutral or disabled. More...
 
std::string GetDescription () const
 
void InitSendable (wpi::SendableBuilder &builder) override
 
void Feed ()
 Feed the motor safety object. More...
 
void SetExpiration (units::second_t expirationTime)
 Set the expiration time for the corresponding motor safety object. More...
 
units::second_t GetExpiration () const
 Retrieve the timeout value for the corresponding motor safety object. More...
 
bool IsAlive () const
 Determine of the motor is still operating or has timed out. More...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device. More...
 
bool IsSafetyEnabled () const
 Return the state of the motor safety enabled flag. More...
 
- Public Member Functions inherited from ctre::phoenix6::hardware::core::CoreTalonFX
 CoreTalonFX (int deviceId, std::string canbus="")
 Constructs a new Talon FX motor controller object. More...
 
 CoreTalonFX (CoreTalonFX &&)=default
 
CoreTalonFXoperator= (CoreTalonFX &&)=default
 
configs::TalonFXConfiguratorGetConfigurator ()
 Gets the configurator for this TalonFX. More...
 
configs::TalonFXConfigurator const & GetConfigurator () const
 Gets the configurator for this TalonFX. More...
 
sim::TalonFXSimStateGetSimState ()
 Get the simulation state for this device. More...
 
StatusSignal< int > & GetVersionMajor ()
 App Major Version number. More...
 
StatusSignal< int > & GetVersionMinor ()
 App Minor Version number. More...
 
StatusSignal< int > & GetVersionBugfix ()
 App Bugfix Version number. More...
 
StatusSignal< int > & GetVersionBuild ()
 App Build Version number. More...
 
StatusSignal< int > & GetVersion ()
 Full Version. More...
 
StatusSignal< int > & GetFaultField ()
 Integer representing all faults. More...
 
StatusSignal< int > & GetStickyFaultField ()
 Integer representing all sticky faults. More...
 
StatusSignal< units::voltage::volt_t > & GetMotorVoltage ()
 The applied (output) motor voltage. More...
 
StatusSignal< signals::ForwardLimitValue > & GetForwardLimit ()
 Forward Limit Pin. More...
 
StatusSignal< signals::ReverseLimitValue > & GetReverseLimit ()
 Reverse Limit Pin. More...
 
StatusSignal< signals::AppliedRotorPolarityValue > & GetAppliedRotorPolarity ()
 The applied rotor polarity. More...
 
StatusSignal< units::dimensionless::scalar_t > & GetDutyCycle ()
 The applied motor duty cycle. More...
 
StatusSignal< units::current::ampere_t > & GetTorqueCurrent ()
 Current corresponding to the torque output by the motor. More...
 
StatusSignal< units::current::ampere_t > & GetStatorCurrent ()
 Current corresponding to the stator windings. More...
 
StatusSignal< units::current::ampere_t > & GetSupplyCurrent ()
 Measured supply side current. More...
 
StatusSignal< units::voltage::volt_t > & GetSupplyVoltage ()
 Measured supply voltage to the TalonFX. More...
 
StatusSignal< units::temperature::celsius_t > & GetDeviceTemp ()
 Temperature of device. More...
 
StatusSignal< units::temperature::celsius_t > & GetProcessorTemp ()
 Temperature of the processor. More...
 
StatusSignal< units::angular_velocity::turns_per_second_t > & GetRotorVelocity ()
 Velocity of the motor rotor. More...
 
StatusSignal< units::angle::turn_t > & GetRotorPosition ()
 Position of the motor rotor. More...
 
StatusSignal< units::angular_velocity::turns_per_second_t > & GetVelocity ()
 Velocity of the device in mechanism rotations per second. More...
 
StatusSignal< units::angle::turn_t > & GetPosition ()
 Position of the device in mechanism rotations. More...
 
StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & GetAcceleration ()
 Acceleration of the device in mechanism rotations per second². More...
 
StatusSignal< signals::ControlModeValue > & GetControlMode ()
 The active control mode of the motor controller. More...
 
StatusSignal< signals::MotionMagicIsRunningValue > & GetMotionMagicIsRunning ()
 Check if Motion Magic® is running. More...
 
StatusSignal< signals::DeviceEnableValue > & GetDeviceEnable ()
 Indicates if device is actuator enabled. More...
 
StatusSignal< int > & GetClosedLoopSlot ()
 Closed loop slot in use. More...
 
StatusSignal< signals::DifferentialControlModeValue > & GetDifferentialControlMode ()
 The active control mode of the differential controller. More...
 
StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialAverageVelocity ()
 Average component of the differential velocity of device. More...
 
StatusSignal< units::angle::turn_t > & GetDifferentialAveragePosition ()
 Average component of the differential position of device. More...
 
StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialDifferenceVelocity ()
 Difference component of the differential velocity of device. More...
 
StatusSignal< units::angle::turn_t > & GetDifferentialDifferencePosition ()
 Difference component of the differential position of device. More...
 
StatusSignal< int > & GetDifferentialClosedLoopSlot ()
 Differential Closed loop slot in use. More...
 
StatusSignal< signals::BridgeOutputValue > & GetBridgeOutput ()
 The applied output of the bridge. More...
 
StatusSignal< bool > & GetIsProLicensed ()
 Whether the device is Phoenix Pro licensed. More...
 
StatusSignal< units::temperature::celsius_t > & GetAncillaryDeviceTemp ()
 Temperature of device from second sensor. More...
 
StatusSignal< signals::MotorTypeValue > & GetMotorType ()
 The type of motor attached to the Talon FX. More...
 
StatusSignal< signals::MotorOutputStatusValue > & GetMotorOutputStatus ()
 Assess the status of the motor output with respect to load and supply. More...
 
StatusSignal< bool > & GetFault_Hardware ()
 Hardware fault occurred. More...
 
StatusSignal< bool > & GetStickyFault_Hardware ()
 Hardware fault occurred. More...
 
StatusSignal< bool > & GetFault_ProcTemp ()
 Processor temperature exceeded limit. More...
 
StatusSignal< bool > & GetStickyFault_ProcTemp ()
 Processor temperature exceeded limit. More...
 
StatusSignal< bool > & GetFault_DeviceTemp ()
 Device temperature exceeded limit. More...
 
StatusSignal< bool > & GetStickyFault_DeviceTemp ()
 Device temperature exceeded limit. More...
 
StatusSignal< bool > & GetFault_Undervoltage ()
 Device supply voltage dropped to near brownout levels. More...
 
StatusSignal< bool > & GetStickyFault_Undervoltage ()
 Device supply voltage dropped to near brownout levels. More...
 
StatusSignal< bool > & GetFault_BootDuringEnable ()
 Device boot while detecting the enable signal. More...
 
StatusSignal< bool > & GetStickyFault_BootDuringEnable ()
 Device boot while detecting the enable signal. More...
 
StatusSignal< bool > & GetFault_UnlicensedFeatureInUse ()
 An unlicensed feature is in use, device may not behave as expected. More...
 
StatusSignal< bool > & GetStickyFault_UnlicensedFeatureInUse ()
 An unlicensed feature is in use, device may not behave as expected. More...
 
StatusSignal< bool > & GetFault_BridgeBrownout ()
 Bridge was disabled most likely due to supply voltage dropping too low. More...
 
StatusSignal< bool > & GetStickyFault_BridgeBrownout ()
 Bridge was disabled most likely due to supply voltage dropping too low. More...
 
StatusSignal< bool > & GetFault_RemoteSensorReset ()
 The remote sensor has reset. More...
 
StatusSignal< bool > & GetStickyFault_RemoteSensorReset ()
 The remote sensor has reset. More...
 
StatusSignal< bool > & GetFault_MissingDifferentialFX ()
 The remote Talon FX used for differential control is not present on CAN Bus. More...
 
StatusSignal< bool > & GetStickyFault_MissingDifferentialFX ()
 The remote Talon FX used for differential control is not present on CAN Bus. More...
 
StatusSignal< bool > & GetFault_RemoteSensorPosOverflow ()
 The remote sensor position has overflowed. More...
 
StatusSignal< bool > & GetStickyFault_RemoteSensorPosOverflow ()
 The remote sensor position has overflowed. More...
 
StatusSignal< bool > & GetFault_OverSupplyV ()
 Supply Voltage has exceeded the maximum voltage rating of device. More...
 
StatusSignal< bool > & GetStickyFault_OverSupplyV ()
 Supply Voltage has exceeded the maximum voltage rating of device. More...
 
StatusSignal< bool > & GetFault_UnstableSupplyV ()
 Supply Voltage is unstable. More...
 
StatusSignal< bool > & GetStickyFault_UnstableSupplyV ()
 Supply Voltage is unstable. More...
 
StatusSignal< bool > & GetFault_ReverseHardLimit ()
 Reverse limit switch has been asserted. More...
 
StatusSignal< bool > & GetStickyFault_ReverseHardLimit ()
 Reverse limit switch has been asserted. More...
 
StatusSignal< bool > & GetFault_ForwardHardLimit ()
 Forward limit switch has been asserted. More...
 
StatusSignal< bool > & GetStickyFault_ForwardHardLimit ()
 Forward limit switch has been asserted. More...
 
StatusSignal< bool > & GetFault_ReverseSoftLimit ()
 Reverse soft limit has been asserted. More...
 
StatusSignal< bool > & GetStickyFault_ReverseSoftLimit ()
 Reverse soft limit has been asserted. More...
 
StatusSignal< bool > & GetFault_ForwardSoftLimit ()
 Forward soft limit has been asserted. More...
 
StatusSignal< bool > & GetStickyFault_ForwardSoftLimit ()
 Forward soft limit has been asserted. More...
 
StatusSignal< bool > & GetFault_RemoteSensorDataInvalid ()
 The remote sensor's data is no longer trusted. More...
 
StatusSignal< bool > & GetStickyFault_RemoteSensorDataInvalid ()
 The remote sensor's data is no longer trusted. More...
 
StatusSignal< bool > & GetFault_FusedSensorOutOfSync ()
 The remote sensor used for fusion has fallen out of sync to the local sensor. More...
 
StatusSignal< bool > & GetStickyFault_FusedSensorOutOfSync ()
 The remote sensor used for fusion has fallen out of sync to the local sensor. More...
 
StatusSignal< bool > & GetFault_StatorCurrLimit ()
 Stator current limit occured. More...
 
StatusSignal< bool > & GetStickyFault_StatorCurrLimit ()
 Stator current limit occured. More...
 
StatusSignal< bool > & GetFault_SupplyCurrLimit ()
 Supply current limit occured. More...
 
StatusSignal< bool > & GetStickyFault_SupplyCurrLimit ()
 Supply current limit occured. More...
 
StatusSignal< bool > & GetFault_UsingFusedCANcoderWhileUnlicensed ()
 Using Fused CANcoder feature while unlicensed. More...
 
StatusSignal< bool > & GetStickyFault_UsingFusedCANcoderWhileUnlicensed ()
 Using Fused CANcoder feature while unlicensed. More...
 
StatusSignal< bool > & GetFault_StaticBrakeDisabled ()
 Static brake was momentarily disabled due to excessive braking current while disabled. More...
 
StatusSignal< bool > & GetStickyFault_StaticBrakeDisabled ()
 Static brake was momentarily disabled due to excessive braking current while disabled. More...
 
StatusSignal< double > & GetClosedLoopProportionalOutput ()
 Closed loop proportional component. More...
 
StatusSignal< double > & GetClosedLoopIntegratedOutput ()
 Closed loop integrated component. More...
 
StatusSignal< double > & GetClosedLoopFeedForward ()
 Feedforward passed by the user. More...
 
StatusSignal< double > & GetClosedLoopDerivativeOutput ()
 Closed loop derivative component. More...
 
StatusSignal< double > & GetClosedLoopOutput ()
 Closed loop total output. More...
 
StatusSignal< double > & GetClosedLoopReference ()
 Value that the closed loop is targeting. More...
 
StatusSignal< double > & GetClosedLoopReferenceSlope ()
 Derivative of the target that the closed loop is targeting. More...
 
StatusSignal< double > & GetClosedLoopError ()
 The difference between target reference and current measurement. More...
 
StatusSignal< double > & GetDifferentialOutput ()
 The calculated motor output for differential followers. More...
 
StatusSignal< double > & GetDifferentialClosedLoopProportionalOutput ()
 Differential closed loop proportional component. More...
 
StatusSignal< double > & GetDifferentialClosedLoopIntegratedOutput ()
 Differential closed loop integrated component. More...
 
StatusSignal< double > & GetDifferentialClosedLoopFeedForward ()
 Differential Feedforward passed by the user. More...
 
StatusSignal< double > & GetDifferentialClosedLoopDerivativeOutput ()
 Differential closed loop derivative component. More...
 
StatusSignal< double > & GetDifferentialClosedLoopOutput ()
 Differential closed loop total output. More...
 
StatusSignal< double > & GetDifferentialClosedLoopReference ()
 Value that the differential closed loop is targeting. More...
 
StatusSignal< double > & GetDifferentialClosedLoopReferenceSlope ()
 Derivative of the target that the differential closed loop is targeting. More...
 
StatusSignal< double > & GetDifferentialClosedLoopError ()
 The difference between target differential reference and current measurement. More...
 
ctre::phoenix::StatusCode SetControl (controls::DutyCycleOut &request)
 Request a specified motor duty cycle. More...
 
ctre::phoenix::StatusCode SetControl (controls::DutyCycleOut &&request)
 Request a specified motor duty cycle. More...
 
ctre::phoenix::StatusCode SetControl (controls::TorqueCurrentFOC &request)
 Request a specified motor current (field oriented control). More...
 
ctre::phoenix::StatusCode SetControl (controls::TorqueCurrentFOC &&request)
 Request a specified motor current (field oriented control). More...
 
ctre::phoenix::StatusCode SetControl (controls::VoltageOut &request)
 Request a specified voltage. More...
 
ctre::phoenix::StatusCode SetControl (controls::VoltageOut &&request)
 Request a specified voltage. More...
 
ctre::phoenix::StatusCode SetControl (controls::PositionDutyCycle &request)
 Request PID to target position with duty cycle feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::PositionDutyCycle &&request)
 Request PID to target position with duty cycle feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::PositionVoltage &request)
 Request PID to target position with voltage feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::PositionVoltage &&request)
 Request PID to target position with voltage feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::PositionTorqueCurrentFOC &request)
 Request PID to target position with torque current feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::PositionTorqueCurrentFOC &&request)
 Request PID to target position with torque current feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::VelocityDutyCycle &request)
 Request PID to target velocity with duty cycle feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::VelocityDutyCycle &&request)
 Request PID to target velocity with duty cycle feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::VelocityVoltage &request)
 Request PID to target velocity with voltage feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::VelocityVoltage &&request)
 Request PID to target velocity with voltage feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::VelocityTorqueCurrentFOC &request)
 Request PID to target velocity with torque current feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::VelocityTorqueCurrentFOC &&request)
 Request PID to target velocity with torque current feedforward. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicDutyCycle &request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicDutyCycle &&request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVoltage &request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVoltage &&request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicTorqueCurrentFOC &request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicTorqueCurrentFOC &&request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialDutyCycle &request)
 Request a specified motor duty cycle with a differential position closed-loop. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialDutyCycle &&request)
 Request a specified motor duty cycle with a differential position closed-loop. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialVoltage &request)
 Request a specified voltage with a differential position closed-loop. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialVoltage &&request)
 Request a specified voltage with a differential position closed-loop. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialPositionDutyCycle &request)
 Request PID to target position with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialPositionDutyCycle &&request)
 Request PID to target position with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialPositionVoltage &request)
 Request PID to target position with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialPositionVoltage &&request)
 Request PID to target position with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialVelocityDutyCycle &request)
 Request PID to target velocity with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialVelocityDutyCycle &&request)
 Request PID to target velocity with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialVelocityVoltage &request)
 Request PID to target velocity with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialVelocityVoltage &&request)
 Request PID to target velocity with a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialMotionMagicDutyCycle &request)
 Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialMotionMagicDutyCycle &&request)
 Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialMotionMagicVoltage &request)
 Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialMotionMagicVoltage &&request)
 Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint. More...
 
ctre::phoenix::StatusCode SetControl (controls::Follower &request)
 Follow the motor output of another Talon. More...
 
ctre::phoenix::StatusCode SetControl (controls::Follower &&request)
 Follow the motor output of another Talon. More...
 
ctre::phoenix::StatusCode SetControl (controls::StrictFollower &request)
 Follow the motor output of another Talon while ignoring the master's invert setting. More...
 
ctre::phoenix::StatusCode SetControl (controls::StrictFollower &&request)
 Follow the motor output of another Talon while ignoring the master's invert setting. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialFollower &request)
 Follow the differential motor output of another Talon. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialFollower &&request)
 Follow the differential motor output of another Talon. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialStrictFollower &request)
 Follow the differential motor output of another Talon while ignoring the master's invert setting. More...
 
ctre::phoenix::StatusCode SetControl (controls::DifferentialStrictFollower &&request)
 Follow the differential motor output of another Talon while ignoring the master's invert setting. More...
 
ctre::phoenix::StatusCode SetControl (controls::NeutralOut &request)
 Request neutral output of actuator. More...
 
ctre::phoenix::StatusCode SetControl (controls::NeutralOut &&request)
 Request neutral output of actuator. More...
 
ctre::phoenix::StatusCode SetControl (controls::CoastOut &request)
 Request coast neutral output of actuator. More...
 
ctre::phoenix::StatusCode SetControl (controls::CoastOut &&request)
 Request coast neutral output of actuator. More...
 
ctre::phoenix::StatusCode SetControl (controls::StaticBrake &request)
 Applies full neutral-brake by shorting motor leads together. More...
 
ctre::phoenix::StatusCode SetControl (controls::StaticBrake &&request)
 Applies full neutral-brake by shorting motor leads together. More...
 
ctre::phoenix::StatusCode SetControl (controls::MusicTone &request)
 Plays a single tone at the user specified frequency. More...
 
ctre::phoenix::StatusCode SetControl (controls::MusicTone &&request)
 Plays a single tone at the user specified frequency. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVelocityDutyCycle &request)
 Requests Motion Magic® to target a final velocity using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVelocityDutyCycle &&request)
 Requests Motion Magic® to target a final velocity using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVelocityTorqueCurrentFOC &request)
 Requests Motion Magic® to target a final velocity using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVelocityTorqueCurrentFOC &&request)
 Requests Motion Magic® to target a final velocity using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVelocityVoltage &request)
 Requests Motion Magic® to target a final velocity using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicVelocityVoltage &&request)
 Requests Motion Magic® to target a final velocity using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicExpoDutyCycle &request)
 Requests Motion Magic® to target a final position using an exponential motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicExpoDutyCycle &&request)
 Requests Motion Magic® to target a final position using an exponential motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicExpoVoltage &request)
 Requests Motion Magic® to target a final position using an exponential motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicExpoVoltage &&request)
 Requests Motion Magic® to target a final position using an exponential motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicExpoTorqueCurrentFOC &request)
 Requests Motion Magic® to target a final position using an exponential motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::MotionMagicExpoTorqueCurrentFOC &&request)
 Requests Motion Magic® to target a final position using an exponential motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DynamicMotionMagicDutyCycle &request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DynamicMotionMagicDutyCycle &&request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DynamicMotionMagicVoltage &request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DynamicMotionMagicVoltage &&request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DynamicMotionMagicTorqueCurrentFOC &request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::DynamicMotionMagicTorqueCurrentFOC &&request)
 Requests Motion Magic® to target a final position using a motion profile. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_DutyCycleOut_Position &request)
 Differential control with duty cycle average target and position difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_DutyCycleOut_Position &&request)
 Differential control with duty cycle average target and position difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionDutyCycle_Position &request)
 Differential control with position average target and position difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionDutyCycle_Position &&request)
 Differential control with position average target and position difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityDutyCycle_Position &request)
 Differential control with velocity average target and position difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityDutyCycle_Position &&request)
 Differential control with velocity average target and position difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicDutyCycle_Position &request)
 Differential control with Motion Magic® average target and position difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicDutyCycle_Position &&request)
 Differential control with Motion Magic® average target and position difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_DutyCycleOut_Velocity &request)
 Differential control with duty cycle average target and velocity difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_DutyCycleOut_Velocity &&request)
 Differential control with duty cycle average target and velocity difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionDutyCycle_Velocity &request)
 Differential control with position average target and velocity difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionDutyCycle_Velocity &&request)
 Differential control with position average target and velocity difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityDutyCycle_Velocity &request)
 Differential control with velocity average target and velocity difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityDutyCycle_Velocity &&request)
 Differential control with velocity average target and velocity difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicDutyCycle_Velocity &request)
 Differential control with Motion Magic® average target and velocity difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicDutyCycle_Velocity &&request)
 Differential control with Motion Magic® average target and velocity difference target using dutycycle control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VoltageOut_Position &request)
 Differential control with voltage average target and position difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VoltageOut_Position &&request)
 Differential control with voltage average target and position difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionVoltage_Position &request)
 Differential control with position average target and position difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionVoltage_Position &&request)
 Differential control with position average target and position difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityVoltage_Position &request)
 Differential control with velocity average target and position difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityVoltage_Position &&request)
 Differential control with velocity average target and position difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicVoltage_Position &request)
 Differential control with Motion Magic® average target and position difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicVoltage_Position &&request)
 Differential control with Motion Magic® average target and position difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VoltageOut_Velocity &request)
 Differential control with voltage average target and velocity difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VoltageOut_Velocity &&request)
 Differential control with voltage average target and velocity difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionVoltage_Velocity &request)
 Differential control with position average target and velocity difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionVoltage_Velocity &&request)
 Differential control with position average target and velocity difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityVoltage_Velocity &request)
 Differential control with velocity average target and velocity difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityVoltage_Velocity &&request)
 Differential control with velocity average target and velocity difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicVoltage_Velocity &request)
 Differential control with Motion Magic® average target and velocity difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicVoltage_Velocity &&request)
 Differential control with Motion Magic® average target and velocity difference target using voltage control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_TorqueCurrentFOC_Position &request)
 Differential control with torque current average target and position difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_TorqueCurrentFOC_Position &&request)
 Differential control with torque current average target and position difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Position &request)
 Differential control with position average target and position difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Position &&request)
 Differential control with position average target and position difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Position &request)
 Differential control with velocity average target and position difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Position &&request)
 Differential control with velocity average target and position difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &request)
 Differential control with Motion Magic® average target and position difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &&request)
 Differential control with Motion Magic® average target and position difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_TorqueCurrentFOC_Velocity &request)
 Differential control with torque current average target and velocity difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_TorqueCurrentFOC_Velocity &&request)
 Differential control with torque current average target and velocity difference target. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &request)
 Differential control with position average target and velocity difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &&request)
 Differential control with position average target and velocity difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &request)
 Differential control with velocity average target and velocity difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &&request)
 Differential control with velocity average target and velocity difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &request)
 Differential control with Motion Magic® average target and velocity difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &&request)
 Differential control with Motion Magic® average target and velocity difference target using torque current control. More...
 
ctre::phoenix::StatusCode SetControl (controls::ControlRequest &request)
 Control motor with generic control request object. More...
 
ctre::phoenix::StatusCode SetControl (controls::ControlRequest &&request)
 Control motor with generic control request object. More...
 
ctre::phoenix::StatusCode SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
 Sets the mechanism position of the device in mechanism rotations. More...
 
ctre::phoenix::StatusCode SetPosition (units::angle::turn_t newValue)
 Sets the mechanism position of the device in mechanism rotations. More...
 
ctre::phoenix::StatusCode ClearStickyFaults (units::time::second_t timeoutSeconds)
 Clear the sticky faults in the device. More...
 
ctre::phoenix::StatusCode ClearStickyFaults ()
 Clear the sticky faults in the device. More...
 
ctre::phoenix::StatusCode ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
 Clear sticky fault: Hardware fault occurred. More...
 
ctre::phoenix::StatusCode ClearStickyFault_Hardware ()
 Clear sticky fault: Hardware fault occurred. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp (units::time::second_t timeoutSeconds)
 Clear sticky fault: Processor temperature exceeded limit. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp ()
 Clear sticky fault: Processor temperature exceeded limit. More...
 
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp (units::time::second_t timeoutSeconds)
 Clear sticky fault: Device temperature exceeded limit. More...
 
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp ()
 Clear sticky fault: Device temperature exceeded limit. More...
 
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
 Clear sticky fault: Device supply voltage dropped to near brownout levels. More...
 
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage ()
 Clear sticky fault: Device supply voltage dropped to near brownout levels. More...
 
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
 Clear sticky fault: Device boot while detecting the enable signal. More...
 
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable ()
 Clear sticky fault: Device boot while detecting the enable signal. More...
 
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. More...
 
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout ()
 Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. More...
 
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset (units::time::second_t timeoutSeconds)
 Clear sticky fault: The remote sensor has reset. More...
 
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset ()
 Clear sticky fault: The remote sensor has reset. More...
 
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX (units::time::second_t timeoutSeconds)
 Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus. More...
 
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX ()
 Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus. More...
 
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow (units::time::second_t timeoutSeconds)
 Clear sticky fault: The remote sensor position has overflowed. More...
 
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow ()
 Clear sticky fault: The remote sensor position has overflowed. More...
 
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV (units::time::second_t timeoutSeconds)
 Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. More...
 
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV ()
 Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. More...
 
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV (units::time::second_t timeoutSeconds)
 Clear sticky fault: Supply Voltage is unstable. More...
 
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV ()
 Clear sticky fault: Supply Voltage is unstable. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit (units::time::second_t timeoutSeconds)
 Clear sticky fault: Reverse limit switch has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit ()
 Clear sticky fault: Reverse limit switch has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit (units::time::second_t timeoutSeconds)
 Clear sticky fault: Forward limit switch has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit ()
 Clear sticky fault: Forward limit switch has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit (units::time::second_t timeoutSeconds)
 Clear sticky fault: Reverse soft limit has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit ()
 Clear sticky fault: Reverse soft limit has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit (units::time::second_t timeoutSeconds)
 Clear sticky fault: Forward soft limit has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit ()
 Clear sticky fault: Forward soft limit has been asserted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid (units::time::second_t timeoutSeconds)
 Clear sticky fault: The remote sensor's data is no longer trusted. More...
 
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid ()
 Clear sticky fault: The remote sensor's data is no longer trusted. More...
 
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. More...
 
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync ()
 Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. More...
 
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit (units::time::second_t timeoutSeconds)
 Clear sticky fault: Stator current limit occured. More...
 
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit ()
 Clear sticky fault: Stator current limit occured. More...
 
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit (units::time::second_t timeoutSeconds)
 Clear sticky fault: Supply current limit occured. More...
 
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit ()
 Clear sticky fault: Supply current limit occured. More...
 
- Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
 ParentDevice (int deviceID, std::string model, std::string canbus)
 
virtual ~ParentDevice ()=default
 
 ParentDevice (ParentDevice &&)=default
 
ParentDeviceoperator= (ParentDevice &&)=default
 
int GetDeviceID () const
 
const std::string & GetNetwork () const
 
uint64_t GetDeviceHash () const
 Gets a number unique for this device's hardware type and ID. More...
 
std::shared_ptr< const controls::ControlRequestGetAppliedControl () const
 Get the latest applied control. More...
 
std::shared_ptr< controls::ControlRequestGetAppliedControl ()
 Get the latest applied control. More...
 
bool HasResetOccurred ()
 
std::function< bool()> GetResetOccurredChecker () const
 
StatusSignal< double > & GetGenericSignal (uint32_t signal)
 This is a reserved routine for internal testing. More...
 
ctre::phoenix::StatusCode OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=50_ms)
 Optimizes the device's bus utilization by reducing the update frequencies of its status signals. More...
 

Static Public Attributes

static constexpr auto kDefaultSafetyExpiration = 100_ms
 The default motor safety timeout IF calling application enables the feature. More...
 

Protected Member Functions

ctre::phoenix::StatusCode SetControlPrivate (controls::ControlRequest &request) override
 
- Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode SetControlPrivate (controls::ControlRequest &request)
 
template<typename T >
StatusSignal< T > & LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction)
 
template<typename T >
StatusSignal< T > & LookupStatusSignal (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignal< T > >()> map_filler, std::string signalName, bool reportOnConstruction)
 
template<typename T , typename U >
StatusSignal< T > LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName)
 Returns a unitless version of the StatusSignal by value. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (Devices &... devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
 
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
 
template<size_t N>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
 
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
 
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
 
template<size_t N>
static ctre::phoenix::StatusCode OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
 Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
 
- Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier deviceIdentifier
 
- Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static controls::EmptyControl _emptyControl {}
 
template<typename... Devices>
static constexpr bool is_all_device_v = is_all_device<Devices...>::value
 Whether all types passed in are subclasses of ParentDevice. More...
 

Detailed Description

Class description for the Talon FX integrated motor controller.

Constructor & Destructor Documentation

◆ TalonFX() [1/2]

ctre::phoenix6::hardware::TalonFX::TalonFX ( int  deviceId,
std::string  canbus = "" 
)

Constructs a new Talon FX motor controller object.

This must be constructed after main executes. We recommend constructing inside the robot class or your subsystem classes. Otherwise WPILib motor safety may produce erroneous behavior.

Parameters
deviceIdID of the device, as configured in Phoenix Tuner.
canbusName of the CAN bus this device is on. Possible CAN bus strings are:
  • "rio" for the native roboRIO CAN bus
  • CANivore name or serial number
  • SocketCAN interface (non-FRC Linux only)
  • "*" for any CANivore seen by the program
  • empty string (default) to select the default for the system:
    • "rio" on roboRIO
    • "can0" on Linux
    • "*" on Windows

◆ ~TalonFX()

ctre::phoenix6::hardware::TalonFX::~TalonFX ( )

◆ TalonFX() [2/2]

ctre::phoenix6::hardware::TalonFX::TalonFX ( TalonFX &&  )
default

Member Function Documentation

◆ Disable()

void ctre::phoenix6::hardware::TalonFX::Disable ( )
override

Common interface for disabling a motor controller.

◆ Feed()

void ctre::phoenix6::hardware::TalonFX::Feed ( )

Feed the motor safety object.

Resets the timer on this object that is used to do the timeouts.

◆ Get()

double ctre::phoenix6::hardware::TalonFX::Get ( ) const
override

Common interface for getting the current set speed of a motor controller.

Returns
The current set speed. Value is between -1.0 and 1.0.

◆ GetDescription()

std::string ctre::phoenix6::hardware::TalonFX::GetDescription ( ) const
Returns
Description of motor controller

◆ GetExpiration()

units::second_t ctre::phoenix6::hardware::TalonFX::GetExpiration ( ) const

Retrieve the timeout value for the corresponding motor safety object.

Returns
the timeout value.

◆ GetInverted()

bool ctre::phoenix6::hardware::TalonFX::GetInverted ( ) const
override

Common interface for returning the inversion state of a motor controller.

Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Returns
The state of the inversion, true is inverted.

◆ InitSendable()

void ctre::phoenix6::hardware::TalonFX::InitSendable ( wpi::SendableBuilder &  builder)
override

◆ IsAlive()

bool ctre::phoenix6::hardware::TalonFX::IsAlive ( ) const

Determine of the motor is still operating or has timed out.

Returns
true if the motor is still operating normally and hasn't timed out.

◆ IsSafetyEnabled()

bool ctre::phoenix6::hardware::TalonFX::IsSafetyEnabled ( ) const

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns
True if motor safety is enforced for this device

◆ operator=()

TalonFX & ctre::phoenix6::hardware::TalonFX::operator= ( TalonFX &&  )
default

◆ Set()

void ctre::phoenix6::hardware::TalonFX::Set ( double  speed)
override

Common interface for setting the speed of a motor controller.

Parameters
speedThe speed to set. Value should be between -1.0 and 1.0.

◆ SetControlPrivate()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::TalonFX::SetControlPrivate ( controls::ControlRequest request)
overrideprotectedvirtual

◆ SetExpiration()

void ctre::phoenix6::hardware::TalonFX::SetExpiration ( units::second_t  expirationTime)

Set the expiration time for the corresponding motor safety object.

Parameters
expirationTimeThe timeout value.

◆ SetInverted()

void ctre::phoenix6::hardware::TalonFX::SetInverted ( bool  isInverted)
override

Common interface for inverting direction of a motor controller.

Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Parameters
isInvertedThe state of inversion, true is inverted.

◆ SetNeutralMode()

void ctre::phoenix6::hardware::TalonFX::SetNeutralMode ( signals::NeutralModeValue  neutralMode)

Sets the mode of operation when output is neutral or disabled.

Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Parameters
neutralModeThe state of the motor controller bridge when output is neutral or disabled

◆ SetSafetyEnabled()

void ctre::phoenix6::hardware::TalonFX::SetSafetyEnabled ( bool  enabled)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this object.

Parameters
enabledTrue if motor safety is enforced for this object.

◆ SetVoltage()

void ctre::phoenix6::hardware::TalonFX::SetVoltage ( units::volt_t  volts)
override

Common interface for seting the direct voltage output of a motor controller.

Parameters
voltsThe voltage to output.

◆ StopMotor()

void ctre::phoenix6::hardware::TalonFX::StopMotor ( )
override

Common interface to stop motor movement until Set is called again.

Member Data Documentation

◆ kDefaultSafetyExpiration

constexpr auto ctre::phoenix6::hardware::TalonFX::kDefaultSafetyExpiration = 100_ms
staticconstexpr

The default motor safety timeout IF calling application enables the feature.


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