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

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

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

Public Member Functions
	CoreTalonFX (int deviceId, std::string canbus="")
	Constructs a new Talon FX motor controller object. More...

	CoreTalonFX (CoreTalonFX &&)=default

CoreTalonFX &	operator= (CoreTalonFX &&)=default

configs::TalonFXConfigurator &	GetConfigurator ()
	Gets the configurator for this TalonFX. More...

configs::TalonFXConfigurator const &	GetConfigurator () const
	Gets the configurator for this TalonFX. More...

sim::TalonFXSimState &	GetSimState ()
	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

ParentDevice &	operator= (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::ControlRequest >	GetAppliedControl () const
	Get the latest applied control. More...

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	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...

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 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...

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

◆ CoreTalonFX() [1/2]

ctre::phoenix6::hardware::core::CoreTalonFX::CoreTalonFX	(	int	deviceId,
		std::string	canbus = `""`
	)

Constructs a new Talon FX motor controller object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	Name 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

◆ CoreTalonFX() [2/2]

ctre::phoenix6::hardware::core::CoreTalonFX::CoreTalonFX ( CoreTalonFX && )

default

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BootDuringEnable ( )

inline

Clear sticky fault: Device boot while detecting the enable signal.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device boot while detecting the enable signal.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BridgeBrownout() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BridgeBrownout ( )

inline

Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BridgeBrownout() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BridgeBrownout ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_DeviceTemp() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_DeviceTemp ( )

inline

Clear sticky fault: Device temperature exceeded limit.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_DeviceTemp() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_DeviceTemp ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device temperature exceeded limit.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_ForwardHardLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardHardLimit ( )

inline

Clear sticky fault: Forward limit switch has been asserted.

Output is set to neutral.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_ForwardHardLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardHardLimit ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Forward limit switch has been asserted.

Output is set to neutral.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_ForwardSoftLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardSoftLimit ( )

inline

Clear sticky fault: Forward soft limit has been asserted.

Output is set to neutral.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_ForwardSoftLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardSoftLimit ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Forward soft limit has been asserted.

Output is set to neutral.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_FusedSensorOutOfSync() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_FusedSensorOutOfSync ( )

inline

Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.

A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_FusedSensorOutOfSync() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_FusedSensorOutOfSync ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.

A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Hardware ( )

inline

Clear sticky fault: Hardware fault occurred.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Hardware fault occurred.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_MissingDifferentialFX() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingDifferentialFX ( )

inline

Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_MissingDifferentialFX() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingDifferentialFX ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_OverSupplyV() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_OverSupplyV ( )

inline

Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_OverSupplyV() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_OverSupplyV ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_ProcTemp() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ProcTemp ( )

inline

Clear sticky fault: Processor temperature exceeded limit.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_ProcTemp() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ProcTemp ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Processor temperature exceeded limit.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_RemoteSensorDataInvalid() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorDataInvalid ( )

inline

Clear sticky fault: The remote sensor's data is no longer trusted.

This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_RemoteSensorDataInvalid() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorDataInvalid ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: The remote sensor's data is no longer trusted.

This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_RemoteSensorPosOverflow() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorPosOverflow ( )

inline

Clear sticky fault: The remote sensor position has overflowed.

Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_RemoteSensorPosOverflow() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorPosOverflow ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: The remote sensor position has overflowed.

Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_RemoteSensorReset() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorReset ( )

inline

Clear sticky fault: The remote sensor has reset.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_RemoteSensorReset() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorReset ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: The remote sensor has reset.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_ReverseHardLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseHardLimit ( )

inline

Clear sticky fault: Reverse limit switch has been asserted.

Output is set to neutral.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_ReverseHardLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseHardLimit ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Reverse limit switch has been asserted.

Output is set to neutral.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_ReverseSoftLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseSoftLimit ( )

inline

Clear sticky fault: Reverse soft limit has been asserted.

Output is set to neutral.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_ReverseSoftLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseSoftLimit ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Reverse soft limit has been asserted.

Output is set to neutral.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_StatorCurrLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_StatorCurrLimit ( )

inline

Clear sticky fault: Stator current limit occured.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_StatorCurrLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_StatorCurrLimit ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Stator current limit occured.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_SupplyCurrLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_SupplyCurrLimit ( )

inline

Clear sticky fault: Supply current limit occured.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_SupplyCurrLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_SupplyCurrLimit ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Supply current limit occured.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Undervoltage ( )

inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnstableSupplyV() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UnstableSupplyV ( )

inline

Clear sticky fault: Supply Voltage is unstable.

Ensure you are using a battery and current limited power supply.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnstableSupplyV() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UnstableSupplyV ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Supply Voltage is unstable.

Ensure you are using a battery and current limited power supply.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFaults ( )

inline

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFaults ( units::time::second_t timeoutSeconds )

inline

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ GetAcceleration()

StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAcceleration ( )

Acceleration of the device in mechanism rotations per second².

This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

Minimum Value: -2048.0
Maximum Value: 2047.75
Default Value: 0
Units: rotations per second²

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Acceleration Status Signal Object

◆ GetAncillaryDeviceTemp()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAncillaryDeviceTemp ( )

Temperature of device from second sensor.

Newer versions of Talon FX have multiple temperature measurement methods.

Minimum Value: 0.0
Maximum Value: 255.0
Default Value: 0
Units: ℃

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AncillaryDeviceTemp Status Signal Object

◆ GetAppliedRotorPolarity()

StatusSignal< signals::AppliedRotorPolarityValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAppliedRotorPolarity ( )

The applied rotor polarity.

This typically is determined by the Inverted config, but can be overridden if using Follower features.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AppliedRotorPolarity Status Signal Object

◆ GetBridgeOutput()

StatusSignal< signals::BridgeOutputValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetBridgeOutput ( )

The applied output of the bridge.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: BridgeOutput Status Signal Object

◆ GetClosedLoopDerivativeOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopDerivativeOutput ( )

Closed loop derivative component.

The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopDerivativeOutput Status Signal object

◆ GetClosedLoopError()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopError ( )

The difference between target reference and current measurement.

This is the value that is treated as the error in the PID loop.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopError Status Signal object

◆ GetClosedLoopFeedForward()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopFeedForward ( )

Feedforward passed by the user.

This is the general feedforward that the user provides for the closed loop.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopFeedForward Status Signal object

◆ GetClosedLoopIntegratedOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopIntegratedOutput ( )

Closed loop integrated component.

The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopIntegratedOutput Status Signal object

◆ GetClosedLoopOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopOutput ( )

Closed loop total output.

The total output of the closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopOutput Status Signal object

◆ GetClosedLoopProportionalOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopProportionalOutput ( )

Closed loop proportional component.

The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopProportionalOutput Status Signal object

◆ GetClosedLoopReference()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopReference ( )

Value that the closed loop is targeting.

This is the value that the closed loop PID controller targets.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopReference Status Signal object

◆ GetClosedLoopReferenceSlope()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopReferenceSlope ( )

Derivative of the target that the closed loop is targeting.

This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopReferenceSlope Status Signal object

◆ GetClosedLoopSlot()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopSlot ( )

Closed loop slot in use.

This is the slot that the closed loop PID is using.

Minimum Value: 0
Maximum Value: 2
Default Value: 0
Units:

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ClosedLoopSlot Status Signal Object

◆ GetConfigurator() [1/2]

configs::TalonFXConfigurator & ctre::phoenix6::hardware::core::CoreTalonFX::GetConfigurator ( )

inline

Gets the configurator for this TalonFX.

Gets the configurator for this TalonFX

Returns: Configurator for this TalonFX

◆ GetConfigurator() [2/2]

configs::TalonFXConfigurator const & ctre::phoenix6::hardware::core::CoreTalonFX::GetConfigurator ( ) const

inline

Gets the configurator for this TalonFX.

Gets the configurator for this TalonFX

Returns: Configurator for this TalonFX

◆ GetControlMode()

StatusSignal< signals::ControlModeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetControlMode ( )

The active control mode of the motor controller.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ControlMode Status Signal Object

◆ GetDeviceEnable()

StatusSignal< signals::DeviceEnableValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDeviceEnable ( )

Indicates if device is actuator enabled.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DeviceEnable Status Signal Object

◆ GetDeviceTemp()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDeviceTemp ( )

Temperature of device.

This is the temperature that the device measures itself to be at. Similar to Processor Temperature.

Minimum Value: 0.0
Maximum Value: 255.0
Default Value: 0
Units: ℃

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DeviceTemp Status Signal Object

◆ GetDifferentialAveragePosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialAveragePosition ( )

Average component of the differential position of device.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialAveragePosition Status Signal Object

◆ GetDifferentialAverageVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialAverageVelocity ( )

Average component of the differential velocity of device.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialAverageVelocity Status Signal Object

◆ GetDifferentialClosedLoopDerivativeOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopDerivativeOutput ( )

Differential closed loop derivative component.

The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopDerivativeOutput Status Signal object

◆ GetDifferentialClosedLoopError()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopError ( )

The difference between target differential reference and current measurement.

This is the value that is treated as the error in the differential PID loop.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopError Status Signal object

◆ GetDifferentialClosedLoopFeedForward()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopFeedForward ( )

Differential Feedforward passed by the user.

This is the general feedforward that the user provides for the differential closed loop.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopFeedForward Status Signal object

◆ GetDifferentialClosedLoopIntegratedOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopIntegratedOutput ( )

Differential closed loop integrated component.

The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopIntegratedOutput Status Signal object

◆ GetDifferentialClosedLoopOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopOutput ( )

Differential closed loop total output.

The total output of the differential closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopOutput Status Signal object

◆ GetDifferentialClosedLoopProportionalOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopProportionalOutput ( )

Differential closed loop proportional component.

The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopProportionalOutput Status Signal object

◆ GetDifferentialClosedLoopReference()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopReference ( )

Value that the differential closed loop is targeting.

This is the value that the differential closed loop PID controller targets.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopReference Status Signal object

◆ GetDifferentialClosedLoopReferenceSlope()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopReferenceSlope ( )

Derivative of the target that the differential closed loop is targeting.

This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopReferenceSlope Status Signal object

◆ GetDifferentialClosedLoopSlot()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopSlot ( )

Differential Closed loop slot in use.

This is the slot that the closed loop differential PID is using.

Minimum Value: 0
Maximum Value: 2
Default Value: 0
Units:

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialClosedLoopSlot Status Signal Object

◆ GetDifferentialControlMode()

StatusSignal< signals::DifferentialControlModeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialControlMode ( )

The active control mode of the differential controller.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialControlMode Status Signal Object

◆ GetDifferentialDifferencePosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialDifferencePosition ( )

Difference component of the differential position of device.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialDifferencePosition Status Signal Object

◆ GetDifferentialDifferenceVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialDifferenceVelocity ( )

Difference component of the differential velocity of device.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialDifferenceVelocity Status Signal Object

◆ GetDifferentialOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialOutput ( )

The calculated motor output for differential followers.

This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DifferentialOutput Status Signal object

◆ GetDutyCycle()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDutyCycle ( )

The applied motor duty cycle.

Minimum Value: -2.0
Maximum Value: 1.9990234375
Default Value: 0
Units: fractional

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: DutyCycle Status Signal Object

◆ GetFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_BootDuringEnable ( )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BootDuringEnable Status Signal Object

◆ GetFault_BridgeBrownout()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_BridgeBrownout ( )

Bridge was disabled most likely due to supply voltage dropping too low.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BridgeBrownout Status Signal Object

◆ GetFault_DeviceTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_DeviceTemp ( )

Device temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_DeviceTemp Status Signal Object

◆ GetFault_ForwardHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ForwardHardLimit ( )

Forward limit switch has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_ForwardHardLimit Status Signal Object

◆ GetFault_ForwardSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ForwardSoftLimit ( )

Forward soft limit has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_ForwardSoftLimit Status Signal Object

◆ GetFault_FusedSensorOutOfSync()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_FusedSensorOutOfSync ( )

The remote sensor used for fusion has fallen out of sync to the local sensor.

A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_FusedSensorOutOfSync Status Signal Object

◆ GetFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_Hardware ( )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_Hardware Status Signal Object

◆ GetFault_MissingDifferentialFX()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_MissingDifferentialFX ( )

The remote Talon FX used for differential control is not present on CAN Bus.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_MissingDifferentialFX Status Signal Object

◆ GetFault_OverSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_OverSupplyV ( )

Supply Voltage has exceeded the maximum voltage rating of device.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_OverSupplyV Status Signal Object

◆ GetFault_ProcTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ProcTemp ( )

Processor temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_ProcTemp Status Signal Object

◆ GetFault_RemoteSensorDataInvalid()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorDataInvalid ( )

The remote sensor's data is no longer trusted.

This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_RemoteSensorDataInvalid Status Signal Object

◆ GetFault_RemoteSensorPosOverflow()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorPosOverflow ( )

The remote sensor position has overflowed.

Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_RemoteSensorPosOverflow Status Signal Object

◆ GetFault_RemoteSensorReset()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorReset ( )

The remote sensor has reset.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_RemoteSensorReset Status Signal Object

◆ GetFault_ReverseHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ReverseHardLimit ( )

Reverse limit switch has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_ReverseHardLimit Status Signal Object

◆ GetFault_ReverseSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ReverseSoftLimit ( )

Reverse soft limit has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_ReverseSoftLimit Status Signal Object

◆ GetFault_StaticBrakeDisabled()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_StaticBrakeDisabled ( )

Static brake was momentarily disabled due to excessive braking current while disabled.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_StaticBrakeDisabled Status Signal Object

◆ GetFault_StatorCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_StatorCurrLimit ( )

Stator current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_StatorCurrLimit Status Signal Object

◆ GetFault_SupplyCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_SupplyCurrLimit ( )

Supply current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_SupplyCurrLimit Status Signal Object

◆ GetFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_Undervoltage ( )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_Undervoltage Status Signal Object

◆ GetFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UnlicensedFeatureInUse ( )

An unlicensed feature is in use, device may not behave as expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_UnlicensedFeatureInUse Status Signal Object

◆ GetFault_UnstableSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UnstableSupplyV ( )

Supply Voltage is unstable.

Ensure you are using a battery and current limited power supply.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_UnstableSupplyV Status Signal Object

◆ GetFault_UsingFusedCANcoderWhileUnlicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UsingFusedCANcoderWhileUnlicensed ( )

Using Fused CANcoder feature while unlicensed.

Device has fallen back to remote CANcoder.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFaultField ( )

Integer representing all faults.

This returns the fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

Minimum Value: 0
Maximum Value: 16777215
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: FaultField Status Signal Object

◆ GetForwardLimit()

StatusSignal< signals::ForwardLimitValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetForwardLimit ( )

Forward Limit Pin.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ForwardLimit Status Signal Object

◆ GetIsProLicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetIsProLicensed ( )

Whether the device is Phoenix Pro licensed.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: IsProLicensed Status Signal Object

◆ GetMotionMagicIsRunning()

StatusSignal< signals::MotionMagicIsRunningValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotionMagicIsRunning ( )

Check if Motion Magic® is running.

This is equivalent to checking that the reported control mode is a Motion Magic® based mode.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: MotionMagicIsRunning Status Signal Object

◆ GetMotorOutputStatus()

StatusSignal< signals::MotorOutputStatusValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorOutputStatus ( )

Assess the status of the motor output with respect to load and supply.

This routine can be used to determine the general status of motor commutation. Off means that motor output is disabled. StaticBraking typically means the motor is in neutral-brake. Motoring means motor is loaded in a typical fashion, drawing current from the supply, and successfully turning the rotor in the direction of applied voltage. Discordant Motoring is the same as Motoring, expect the rotor is being backdriven as the motor output is not enough to defeat load forces. RegenBraking means the motor is braking in such a way where motor current is traveling back to the supply (typically a battery).

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: MotorOutputStatus Status Signal Object

◆ GetMotorType()

StatusSignal< signals::MotorTypeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorType ( )

The type of motor attached to the Talon FX.

This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: MotorType Status Signal Object

◆ GetMotorVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorVoltage ( )

The applied (output) motor voltage.

Minimum Value: -40.96
Maximum Value: 40.95
Default Value: 0
Units: V

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: MotorVoltage Status Signal Object

◆ GetPosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetPosition ( )

Position of the device in mechanism rotations.

This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Position Status Signal Object

◆ GetProcessorTemp()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetProcessorTemp ( )

Temperature of the processor.

This is the temperature that the processor measures itself to be at. Similar to Device Temperature.

Minimum Value: 0.0
Maximum Value: 255.0
Default Value: 0
Units: ℃

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ProcessorTemp Status Signal Object

◆ GetReverseLimit()

StatusSignal< signals::ReverseLimitValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetReverseLimit ( )

Reverse Limit Pin.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: ReverseLimit Status Signal Object

◆ GetRotorPosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRotorPosition ( )

Position of the motor rotor.

This position is only affected by the RotorOffset config and calls to setPosition.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: RotorPosition Status Signal Object

◆ GetRotorVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRotorVelocity ( )

Velocity of the motor rotor.

This velocity is not affected by any feedback configs.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: RotorVelocity Status Signal Object

◆ GetSimState()

sim::TalonFXSimState & ctre::phoenix6::hardware::core::CoreTalonFX::GetSimState ( )

inline

Get the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

Returns: Simulation state

◆ GetStatorCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStatorCurrent ( )

Current corresponding to the stator windings.

Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.

Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.

Minimum Value: -327.68
Maximum Value: 327.66
Default Value: 0
Units: A

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: StatorCurrent Status Signal Object

◆ GetStickyFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_BootDuringEnable ( )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BootDuringEnable Status Signal Object

◆ GetStickyFault_BridgeBrownout()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_BridgeBrownout ( )

Bridge was disabled most likely due to supply voltage dropping too low.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BridgeBrownout Status Signal Object

◆ GetStickyFault_DeviceTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_DeviceTemp ( )

Device temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_DeviceTemp Status Signal Object

◆ GetStickyFault_ForwardHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ForwardHardLimit ( )

Forward limit switch has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_ForwardHardLimit Status Signal Object

◆ GetStickyFault_ForwardSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ForwardSoftLimit ( )

Forward soft limit has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_ForwardSoftLimit Status Signal Object

◆ GetStickyFault_FusedSensorOutOfSync()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_FusedSensorOutOfSync ( )

The remote sensor used for fusion has fallen out of sync to the local sensor.

A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_FusedSensorOutOfSync Status Signal Object

◆ GetStickyFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_Hardware ( )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_Hardware Status Signal Object

◆ GetStickyFault_MissingDifferentialFX()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_MissingDifferentialFX ( )

The remote Talon FX used for differential control is not present on CAN Bus.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_MissingDifferentialFX Status Signal Object

◆ GetStickyFault_OverSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_OverSupplyV ( )

Supply Voltage has exceeded the maximum voltage rating of device.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_OverSupplyV Status Signal Object

◆ GetStickyFault_ProcTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ProcTemp ( )

Processor temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_ProcTemp Status Signal Object

◆ GetStickyFault_RemoteSensorDataInvalid()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorDataInvalid ( )

The remote sensor's data is no longer trusted.

This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_RemoteSensorDataInvalid Status Signal Object

◆ GetStickyFault_RemoteSensorPosOverflow()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorPosOverflow ( )

The remote sensor position has overflowed.

Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_RemoteSensorPosOverflow Status Signal Object

◆ GetStickyFault_RemoteSensorReset()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorReset ( )

The remote sensor has reset.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_RemoteSensorReset Status Signal Object

◆ GetStickyFault_ReverseHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ReverseHardLimit ( )

Reverse limit switch has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_ReverseHardLimit Status Signal Object

◆ GetStickyFault_ReverseSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ReverseSoftLimit ( )

Reverse soft limit has been asserted.

Output is set to neutral.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_ReverseSoftLimit Status Signal Object

◆ GetStickyFault_StaticBrakeDisabled()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_StaticBrakeDisabled ( )

Static brake was momentarily disabled due to excessive braking current while disabled.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_StaticBrakeDisabled Status Signal Object

◆ GetStickyFault_StatorCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_StatorCurrLimit ( )

Stator current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_StatorCurrLimit Status Signal Object

◆ GetStickyFault_SupplyCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_SupplyCurrLimit ( )

Supply current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_SupplyCurrLimit Status Signal Object

◆ GetStickyFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_Undervoltage ( )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_Undervoltage Status Signal Object

◆ GetStickyFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UnlicensedFeatureInUse ( )

An unlicensed feature is in use, device may not behave as expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_UnlicensedFeatureInUse Status Signal Object

◆ GetStickyFault_UnstableSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UnstableSupplyV ( )

Supply Voltage is unstable.

Ensure you are using a battery and current limited power supply.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_UnstableSupplyV Status Signal Object

◆ GetStickyFault_UsingFusedCANcoderWhileUnlicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UsingFusedCANcoderWhileUnlicensed ( )

Using Fused CANcoder feature while unlicensed.

Device has fallen back to remote CANcoder.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFaultField ( )

Integer representing all sticky faults.

This returns the persistent "sticky" fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

Minimum Value: 0
Maximum Value: 16777215
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFaultField Status Signal Object

◆ GetSupplyCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetSupplyCurrent ( )

Measured supply side current.

Minimum Value: -327.68
Maximum Value: 327.66
Default Value: 0
Units: A

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: SupplyCurrent Status Signal Object

◆ GetSupplyVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetSupplyVoltage ( )

Measured supply voltage to the TalonFX.

Minimum Value: 4
Maximum Value: 29.575
Default Value: 4
Units: V

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: SupplyVoltage Status Signal Object

◆ GetTorqueCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetTorqueCurrent ( )

Current corresponding to the torque output by the motor.

Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.

Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting

Minimum Value: -327.68
Maximum Value: 327.67
Default Value: 0
Units: A

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: TorqueCurrent Status Signal Object

◆ GetVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVelocity ( )

Velocity of the device in mechanism rotations per second.

This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Velocity Status Signal Object

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersion ( )

Full Version.

The format is a four byte value.

Full Version of firmware in device. The format is a four byte value.

Minimum Value: 0
Maximum Value: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Version Status Signal Object

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionBugfix ( )

App Bugfix Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionBugfix Status Signal Object

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionBuild ( )

App Build Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionBuild Status Signal Object

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionMajor ( )

App Major Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionMajor Status Signal Object

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionMinor ( )

App Minor Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionMinor Status Signal Object

◆ operator=()

CoreTalonFX & ctre::phoenix6::hardware::core::CoreTalonFX::operator= ( CoreTalonFX && )

default

◆ SetControl() [1/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::CoastOut && request )

inline

Request coast neutral output of actuator.

The bridge is disabled and the rotor is allowed to coast.

CoastOut Parameters:

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [2/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::CoastOut & request )

Request coast neutral output of actuator.

The bridge is disabled and the rotor is allowed to coast.

CoastOut Parameters:

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [3/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Position && request )

inline

Differential control with duty cycle average target and position difference target.

Diff_DutyCycleOut_Position Parameters:
- AverageRequest: Average DutyCycleOut request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [4/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Position & request )

Differential control with duty cycle average target and position difference target.

Diff_DutyCycleOut_Position Parameters:
- AverageRequest: Average DutyCycleOut request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [5/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Velocity && request )

inline

Differential control with duty cycle average target and velocity difference target.

Diff_DutyCycleOut_Velocity Parameters:
- AverageRequest: Average DutyCycleOut request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [6/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Velocity & request )

Differential control with duty cycle average target and velocity difference target.

Diff_DutyCycleOut_Velocity Parameters:
- AverageRequest: Average DutyCycleOut request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [7/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Position && request )

inline

Differential control with Motion Magic® average target and position difference target using dutycycle control.

Diff_MotionMagicDutyCycle_Position Parameters:
- AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [8/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Position & request )

Differential control with Motion Magic® average target and position difference target using dutycycle control.

Diff_MotionMagicDutyCycle_Position Parameters:
- AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [9/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Velocity && request )

inline

Differential control with Motion Magic® average target and velocity difference target using dutycycle control.

Diff_MotionMagicDutyCycle_Velocity Parameters:
- AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [10/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Velocity & request )

Differential control with Motion Magic® average target and velocity difference target using dutycycle control.

Diff_MotionMagicDutyCycle_Velocity Parameters:
- AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [11/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position && request )

inline

Differential control with Motion Magic® average target and position difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [12/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position & request )

Differential control with Motion Magic® average target and position difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [13/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity && request )

inline

Differential control with Motion Magic® average target and velocity difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [14/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity & request )

Differential control with Motion Magic® average target and velocity difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [15/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Position && request )

inline

Differential control with Motion Magic® average target and position difference target using voltage control.

Diff_MotionMagicVoltage_Position Parameters:
- AverageRequest: Average MotionMagicVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [16/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Position & request )

Differential control with Motion Magic® average target and position difference target using voltage control.

Diff_MotionMagicVoltage_Position Parameters:
- AverageRequest: Average MotionMagicVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [17/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Velocity && request )

inline

Differential control with Motion Magic® average target and velocity difference target using voltage control.

Diff_MotionMagicVoltage_Velocity Parameters:
- AverageRequest: Average MotionMagicVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [18/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Velocity & request )

Differential control with Motion Magic® average target and velocity difference target using voltage control.

Diff_MotionMagicVoltage_Velocity Parameters:
- AverageRequest: Average MotionMagicVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [19/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Position && request )

inline

Differential control with position average target and position difference target using dutycycle control.

Diff_PositionDutyCycle_Position Parameters:
- AverageRequest: Average PositionDutyCycle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [20/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Position & request )

Differential control with position average target and position difference target using dutycycle control.

Diff_PositionDutyCycle_Position Parameters:
- AverageRequest: Average PositionDutyCycle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [21/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Velocity && request )

inline

Differential control with position average target and velocity difference target using dutycycle control.

Diff_PositionDutyCycle_Velocity Parameters:
- AverageRequest: Average PositionDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [22/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Velocity & request )

Differential control with position average target and velocity difference target using dutycycle control.

Diff_PositionDutyCycle_Velocity Parameters:
- AverageRequest: Average PositionDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [23/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Position && request )

inline

Differential control with position average target and position difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [24/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Position & request )

Differential control with position average target and position difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [25/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Velocity && request )

inline

Differential control with position average target and velocity difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [26/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Velocity & request )

Differential control with position average target and velocity difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [27/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Position && request )

inline

Differential control with position average target and position difference target using voltage control.

Diff_PositionVoltage_Position Parameters:
- AverageRequest: Average PositionVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [28/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Position & request )

Differential control with position average target and position difference target using voltage control.

Diff_PositionVoltage_Position Parameters:
- AverageRequest: Average PositionVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [29/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Velocity && request )

inline

Differential control with position average target and velocity difference target using voltage control.

Diff_PositionVoltage_Velocity Parameters:
- AverageRequest: Average PositionVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [30/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Velocity & request )

Differential control with position average target and velocity difference target using voltage control.

Diff_PositionVoltage_Velocity Parameters:
- AverageRequest: Average PositionVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [31/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Position && request )

inline

Differential control with torque current average target and position difference target.

Diff_TorqueCurrentFOC_Position Parameters:
- AverageRequest: Average TorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [32/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Position & request )

Differential control with torque current average target and position difference target.

Diff_TorqueCurrentFOC_Position Parameters:
- AverageRequest: Average TorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [33/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Velocity && request )

inline

Differential control with torque current average target and velocity difference target.

Diff_TorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average TorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [34/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Velocity & request )

Differential control with torque current average target and velocity difference target.

Diff_TorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average TorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [35/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Position && request )

inline

Differential control with velocity average target and position difference target using dutycycle control.

Diff_VelocityDutyCycle_Position Parameters:
- AverageRequest: Average VelocityDutyCYcle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [36/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Position & request )

Differential control with velocity average target and position difference target using dutycycle control.

Diff_VelocityDutyCycle_Position Parameters:
- AverageRequest: Average VelocityDutyCYcle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [37/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Velocity && request )

inline

Differential control with velocity average target and velocity difference target using dutycycle control.

Diff_VelocityDutyCycle_Velocity Parameters:
- AverageRequest: Average VelocityDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [38/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Velocity & request )

Differential control with velocity average target and velocity difference target using dutycycle control.

Diff_VelocityDutyCycle_Velocity Parameters:
- AverageRequest: Average VelocityDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [39/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Position && request )

inline

Differential control with velocity average target and position difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [40/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Position & request )

Differential control with velocity average target and position difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [41/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity && request )

inline

Differential control with velocity average target and velocity difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [42/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity & request )

Differential control with velocity average target and velocity difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [43/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Position && request )

inline

Differential control with velocity average target and position difference target using voltage control.

Diff_VelocityVoltage_Position Parameters:
- AverageRequest: Average VelocityVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [44/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Position & request )

Differential control with velocity average target and position difference target using voltage control.

Diff_VelocityVoltage_Position Parameters:
- AverageRequest: Average VelocityVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [45/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Velocity && request )

inline

Differential control with velocity average target and velocity difference target using voltage control.

Diff_VelocityVoltage_Velocity Parameters:
- AverageRequest: Average VelocityVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [46/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Velocity & request )

Differential control with velocity average target and velocity difference target using voltage control.

Diff_VelocityVoltage_Velocity Parameters:
- AverageRequest: Average VelocityVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [47/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Position && request )

inline

Differential control with voltage average target and position difference target.

Diff_VoltageOut_Position Parameters:
- AverageRequest: Average VoltageOut request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [48/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Position & request )

Differential control with voltage average target and position difference target.

Diff_VoltageOut_Position Parameters:
- AverageRequest: Average VoltageOut request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [49/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Velocity && request )

inline

Differential control with voltage average target and velocity difference target.

Diff_VoltageOut_Velocity Parameters:
- AverageRequest: Average VoltageOut request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [50/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Velocity & request )

Differential control with voltage average target and velocity difference target.

Diff_VoltageOut_Velocity Parameters:
- AverageRequest: Average VoltageOut request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [51/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::ControlRequest && request )

inline

Control motor with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the corresponding StatusCode

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [52/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::ControlRequest & request )

inline

Control motor with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [53/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialDutyCycle && request )

inline

Request a specified motor duty cycle with a differential position closed-loop.

This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialDutyCycle Parameters:
- TargetOutput: Proportion of supply voltage to apply in fractional units between -1 and +1
- DifferentialPosition: Differential position to drive towards in rotations
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [54/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialDutyCycle & request )

Request a specified motor duty cycle with a differential position closed-loop.

This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialDutyCycle Parameters:
- TargetOutput: Proportion of supply voltage to apply in fractional units between -1 and +1
- DifferentialPosition: Differential position to drive towards in rotations
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [55/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialFollower && request )

inline

Follow the differential motor output of another Talon.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

DifferentialFollower Parameters:
- MasterID: Device ID of the differential master to follow.
- OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [56/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialFollower & request )

Follow the differential motor output of another Talon.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

DifferentialFollower Parameters:
- MasterID: Device ID of the differential master to follow.
- OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [57/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicDutyCycle && request )

inline

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DifferentialMotionMagicDutyCycle Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [58/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicDutyCycle & request )

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DifferentialMotionMagicDutyCycle Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [59/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicVoltage && request )

inline

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DifferentialMotionMagicVoltage Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [60/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicVoltage & request )

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DifferentialMotionMagicVoltage Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [61/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialPositionDutyCycle && request )

inline

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialPositionDutyCycle Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [62/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialPositionDutyCycle & request )

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialPositionDutyCycle Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [63/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialPositionVoltage && request )

inline

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialPositionVoltage Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [64/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialPositionVoltage & request )

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialPositionVoltage Parameters:
- TargetPosition: Average position to drive toward in rotations.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [65/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialStrictFollower && request )

inline

Follow the differential motor output of another Talon while ignoring the master's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

DifferentialStrictFollower Parameters:
- MasterID: Device ID of the differential master to follow.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [66/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialStrictFollower & request )

Follow the differential motor output of another Talon while ignoring the master's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

DifferentialStrictFollower Parameters:
- MasterID: Device ID of the differential master to follow.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [67/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVelocityDutyCycle && request )

inline

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialVelocityDutyCycle Parameters:
- TargetVelocity: Average velocity to drive toward in rotations per second.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [68/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVelocityDutyCycle & request )

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialVelocityDutyCycle Parameters:
- TargetVelocity: Average velocity to drive toward in rotations per second.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [69/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVelocityVoltage && request )

inline

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialVelocityVoltage Parameters:
- TargetVelocity: Average velocity to drive toward in rotations per second.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [70/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVelocityVoltage & request )

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

DifferentialVelocityVoltage Parameters:
- TargetVelocity: Average velocity to drive toward in rotations per second.
- DifferentialPosition: Differential position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [71/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVoltage && request )

inline

Request a specified voltage with a differential position closed-loop.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.

DifferentialVoltage Parameters:
- TargetOutput: Voltage to attempt to drive at
- DifferentialPosition: Differential position to drive towards in rotations
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [72/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVoltage & request )

Request a specified voltage with a differential position closed-loop.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.

DifferentialVoltage Parameters:
- TargetOutput: Voltage to attempt to drive at
- DifferentialPosition: Differential position to drive towards in rotations
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [73/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DutyCycleOut && request )

inline

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

DutyCycleOut Parameters:
- Output: Proportion of supply voltage to apply in fractional units between -1 and +1
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [74/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DutyCycleOut & request )

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

DutyCycleOut Parameters:
- Output: Proportion of supply voltage to apply in fractional units between -1 and +1
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [75/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicDutyCycle && request )

inline

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DynamicMotionMagicDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation
- Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [76/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicDutyCycle & request )

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

DynamicMotionMagicDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation
- Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [77/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicTorqueCurrentFOC && request )

inline

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

DynamicMotionMagicTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [78/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicTorqueCurrentFOC & request )

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

DynamicMotionMagicTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [79/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicVoltage && request )

inline

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a voltage feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DynamicMotionMagicVoltage Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [80/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicVoltage & request )

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a voltage feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DynamicMotionMagicVoltage Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [81/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::Follower && request )

inline

Follow the motor output of another Talon.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

Follower Parameters:
- MasterID: Device ID of the master to follow.
- OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [82/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::Follower & request )

Follow the motor output of another Talon.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

Follower Parameters:
- MasterID: Device ID of the master to follow.
- OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [83/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicDutyCycle && request )

inline

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [84/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicDutyCycle & request )

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [85/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoDutyCycle && request )

inline

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicExpoDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [86/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoDutyCycle & request )

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicExpoDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [87/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoTorqueCurrentFOC && request )

inline

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicExpoTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [88/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoTorqueCurrentFOC & request )

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicExpoTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [89/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoVoltage && request )

inline

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicExpoVoltage Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [90/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoVoltage & request )

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicExpoVoltage Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [91/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicTorqueCurrentFOC && request )

inline

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [92/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicTorqueCurrentFOC & request )

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [93/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityDutyCycle && request )

inline

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicVelocityDutyCycle Parameters:
- Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [94/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityDutyCycle & request )

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

MotionMagicVelocityDutyCycle Parameters:
- Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [95/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityTorqueCurrentFOC && request )

inline

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicVelocityTorqueCurrentFOC Parameters:
- Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [96/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityTorqueCurrentFOC & request )

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicVelocityTorqueCurrentFOC Parameters:
- Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [97/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityVoltage && request )

inline

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicVelocityVoltage Parameters:
- Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [98/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityVoltage & request )

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicVelocityVoltage Parameters:
- Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [99/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVoltage && request )

inline

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicVoltage Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [100/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVoltage & request )

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

MotionMagicVoltage Parameters:
- Position: Position to drive toward in rotations.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [101/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MusicTone && request )

inline

Plays a single tone at the user specified frequency.

MusicTone Parameters:
- AudioFrequency: Sound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000Hz. Any nonzero frequency less than 10 Hz will be capped to 10Hz. Any frequency above 20Khz will be capped to 20KHz.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [102/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MusicTone & request )

Plays a single tone at the user specified frequency.

MusicTone Parameters:
- AudioFrequency: Sound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000Hz. Any nonzero frequency less than 10 Hz will be capped to 10Hz. Any frequency above 20Khz will be capped to 20KHz.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [103/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::NeutralOut && request )

inline

Request neutral output of actuator.

The applied brake type is determined by the NeutralMode configuration.

NeutralOut Parameters:

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [104/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::NeutralOut & request )

Request neutral output of actuator.

The applied brake type is determined by the NeutralMode configuration.

NeutralOut Parameters:

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [105/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionDutyCycle && request )

inline

Request PID to target position with duty cycle feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.

PositionDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [106/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionDutyCycle & request )

Request PID to target position with duty cycle feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.

PositionDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [107/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionTorqueCurrentFOC && request )

inline

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

PositionTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [108/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionTorqueCurrentFOC & request )

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

PositionTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [109/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionVoltage && request )

inline

Request PID to target position with voltage feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

PositionVoltage Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [110/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionVoltage & request )

Request PID to target position with voltage feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

PositionVoltage Parameters:
- Position: Position to drive toward in rotations.
- Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [111/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::StaticBrake && request )

inline

Applies full neutral-brake by shorting motor leads together.

StaticBrake Parameters:

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [112/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::StaticBrake & request )

Applies full neutral-brake by shorting motor leads together.

StaticBrake Parameters:

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [113/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::StrictFollower && request )

inline

Follow the motor output of another Talon while ignoring the master's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

StrictFollower Parameters:
- MasterID: Device ID of the master to follow.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [114/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::StrictFollower & request )

Follow the motor output of another Talon while ignoring the master's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

StrictFollower Parameters:
- MasterID: Device ID of the master to follow.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [115/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::TorqueCurrentFOC && request )

inline

Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

TorqueCurrentFOC Parameters:
- Output: Amount of motor current in Amperes
- MaxAbsDutyCycle: The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
- Deadband: Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [116/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::TorqueCurrentFOC & request )

Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

TorqueCurrentFOC Parameters:
- Output: Amount of motor current in Amperes
- MaxAbsDutyCycle: The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
- Deadband: Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [117/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityDutyCycle && request )

inline

Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

VelocityDutyCycle Parameters:
- Velocity: Velocity to drive toward in rotations per second.
- Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [118/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityDutyCycle & request )

Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

VelocityDutyCycle Parameters:
- Velocity: Velocity to drive toward in rotations per second.
- Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in fractional units between -1 and +1.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [119/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityTorqueCurrentFOC && request )

inline

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

VelocityTorqueCurrentFOC Parameters:
- Velocity: Velocity to drive toward in rotations per second.
- Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [120/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityTorqueCurrentFOC & request )

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

VelocityTorqueCurrentFOC Parameters:
- Velocity: Velocity to drive toward in rotations per second.
- Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
- FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [121/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityVoltage && request )

inline

Request PID to target velocity with voltage feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

VelocityVoltage Parameters:
- Velocity: Velocity to drive toward in rotations per second.
- Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [122/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityVoltage & request )

Request PID to target velocity with voltage feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

VelocityVoltage Parameters:
- Velocity: Velocity to drive toward in rotations per second.
- Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- FeedForward: Feedforward to apply in volts
- Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [123/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VoltageOut && request )

inline

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

VoltageOut Parameters:
- Output: Voltage to attempt to drive at
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [124/124]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VoltageOut & request )

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

VoltageOut Parameters:
- Output: Voltage to attempt to drive at
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
- OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
- LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
- LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetPosition() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetPosition ( units::angle::turn_t newValue )

inline

Sets the mechanism position of the device in mechanism rotations.

This will wait up to 0.050 seconds (50ms) by default.

Parameters

newValue Value to set to. Units are in rotations.

Returns: StatusCode of the set command

◆ SetPosition() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetPosition	(	units::angle::turn_t	newValue,
		units::time::second_t	timeoutSeconds
	)

inline

Sets the mechanism position of the device in mechanism rotations.

Parameters

newValue	Value to set to. Units are in rotations.
timeoutSeconds	Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

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

ctre/phoenix6/core/CoreTalonFX.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CoreTalonFX() [1/2]

◆ CoreTalonFX() [2/2]

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

◆ ClearStickyFault_BootDuringEnable() [2/2]

◆ ClearStickyFault_BridgeBrownout() [1/2]

◆ ClearStickyFault_BridgeBrownout() [2/2]

◆ ClearStickyFault_DeviceTemp() [1/2]

◆ ClearStickyFault_DeviceTemp() [2/2]

◆ ClearStickyFault_ForwardHardLimit() [1/2]

◆ ClearStickyFault_ForwardHardLimit() [2/2]

◆ ClearStickyFault_ForwardSoftLimit() [1/2]

◆ ClearStickyFault_ForwardSoftLimit() [2/2]

◆ ClearStickyFault_FusedSensorOutOfSync() [1/2]

◆ ClearStickyFault_FusedSensorOutOfSync() [2/2]

◆ ClearStickyFault_Hardware() [1/2]

◆ ClearStickyFault_Hardware() [2/2]

◆ ClearStickyFault_MissingDifferentialFX() [1/2]

◆ ClearStickyFault_MissingDifferentialFX() [2/2]

◆ ClearStickyFault_OverSupplyV() [1/2]

◆ ClearStickyFault_OverSupplyV() [2/2]

◆ ClearStickyFault_ProcTemp() [1/2]

◆ ClearStickyFault_ProcTemp() [2/2]

◆ ClearStickyFault_RemoteSensorDataInvalid() [1/2]

◆ ClearStickyFault_RemoteSensorDataInvalid() [2/2]

◆ ClearStickyFault_RemoteSensorPosOverflow() [1/2]

◆ ClearStickyFault_RemoteSensorPosOverflow() [2/2]

◆ ClearStickyFault_RemoteSensorReset() [1/2]

◆ ClearStickyFault_RemoteSensorReset() [2/2]

◆ ClearStickyFault_ReverseHardLimit() [1/2]

◆ ClearStickyFault_ReverseHardLimit() [2/2]

◆ ClearStickyFault_ReverseSoftLimit() [1/2]

◆ ClearStickyFault_ReverseSoftLimit() [2/2]

◆ ClearStickyFault_StatorCurrLimit() [1/2]

◆ ClearStickyFault_StatorCurrLimit() [2/2]

◆ ClearStickyFault_SupplyCurrLimit() [1/2]

◆ ClearStickyFault_SupplyCurrLimit() [2/2]

◆ ClearStickyFault_Undervoltage() [1/2]

◆ ClearStickyFault_Undervoltage() [2/2]

◆ ClearStickyFault_UnstableSupplyV() [1/2]

◆ ClearStickyFault_UnstableSupplyV() [2/2]

◆ ClearStickyFaults() [1/2]

◆ ClearStickyFaults() [2/2]

◆ GetAcceleration()

◆ GetAncillaryDeviceTemp()

◆ GetAppliedRotorPolarity()

◆ GetBridgeOutput()

◆ GetClosedLoopDerivativeOutput()

◆ GetClosedLoopError()

◆ GetClosedLoopFeedForward()

◆ GetClosedLoopIntegratedOutput()

◆ GetClosedLoopOutput()

◆ GetClosedLoopProportionalOutput()

◆ GetClosedLoopReference()

◆ GetClosedLoopReferenceSlope()

◆ GetClosedLoopSlot()

◆ GetConfigurator() [1/2]

◆ GetConfigurator() [2/2]

◆ GetControlMode()

◆ GetDeviceEnable()

◆ GetDeviceTemp()

◆ GetDifferentialAveragePosition()

◆ GetDifferentialAverageVelocity()

◆ GetDifferentialClosedLoopDerivativeOutput()

◆ GetDifferentialClosedLoopError()

◆ GetDifferentialClosedLoopFeedForward()

◆ GetDifferentialClosedLoopIntegratedOutput()

◆ GetDifferentialClosedLoopOutput()

◆ GetDifferentialClosedLoopProportionalOutput()

◆ GetDifferentialClosedLoopReference()

◆ GetDifferentialClosedLoopReferenceSlope()

◆ GetDifferentialClosedLoopSlot()

◆ GetDifferentialControlMode()

◆ GetDifferentialDifferencePosition()

◆ GetDifferentialDifferenceVelocity()

◆ GetDifferentialOutput()