Manages control of a two-axis differential mechanism. More...

#include <ctre/phoenix6/mechanisms/DifferentialMechanism.hpp>

Public Types
enum class	DifferentialPigeon2Source { Yaw , Pitch , Roll }
	Sensor sources for a differential Pigeon 2. More...

enum class	DisabledReason { None , MissingRemoteSensor , MissingDifferentialFX , RemoteSensorPosOverflow , DeviceHasReset }
	Possible reasons for the mechanism to disable. More...

enum class	RequiresUserReason { None , RemoteSensorPosOverflow , DeviceHasReset }
	Possible reasons for the mechanism to require user action to resume control. More...

Public Member Functions
	DifferentialMechanism (hardware::TalonFX &differentialAddFX, hardware::TalonFX &differentialSubFX, bool motorDirectionsAlign)
	Creates a new differential mechanism using the given two hardware::TalonFX devices. More...

	DifferentialMechanism (hardware::TalonFX &differentialAddFX, hardware::TalonFX &differentialSubFX, bool motorDirectionsAlign, hardware::Pigeon2 &pigeon2, DifferentialPigeon2Source pigeonSource)
	Creates a new differential mechanism using the given two hardware::TalonFX devices and a hardware::Pigeon2. More...

	DifferentialMechanism (hardware::TalonFX &differentialAddFX, hardware::TalonFX &differentialSubFX, bool motorDirectionsAlign, hardware::CANcoder &cancoder)
	Creates a new differential mechanism using the given two hardware::TalonFX devices and a hardware::CANcoder. More...

hardware::TalonFX &	GetDifferentialLeader ()
	Get the Talon FX that is differential leader. More...

hardware::TalonFX const &	GetDifferentialLeader () const
	Get the Talon FX that is differential leader. More...

hardware::TalonFX &	GetDifferentialFollower ()
	Get the Talon FX that is differential follower. More...

hardware::TalonFX const &	GetDifferentialFollower () const
	Get the Talon FX that is differential follower. More...

ctre::phoenix::StatusCode	ApplyConfigs (int numRetries=kDefaultConfigRetries)
	Apply the mechanism configs to the devices. More...

void	Periodic ()
	Call this method periodically to keep the mechanism state updated. More...

bool	IsDisabled () const
	Get whether the mechanism is currently disabled due to an issue. More...

bool	RequiresUserAction () const
	Get whether the mechanism is currently disabled and requires user action to re-enable mechanism control. More...

MechanismState	GetMechanismState () const
	Gets the state of the mechanism. More...

void	ClearUserRequirement ()
	Indicate to the mechanism that the user has performed the required action to resume mechanism control. More...

DisabledReason	GetDisabledReason () const

RequiresUserReason	GetRequiresUserReason () const

ctre::phoenix::StatusCode	SetNeutralOut ()
	Request neutral output of mechanism. More...

ctre::phoenix::StatusCode	SetCoastOut ()
	Request coast neutral output of mechanism. More...

ctre::phoenix::StatusCode	SetStaticBrake ()
	Applies full neutral-brake on the mechanism by shorting motor leads together. More...

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle AverageRequest, controls::PositionDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle AverageRequest, controls::VelocityDutyCycle DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage AverageRequest, controls::PositionVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage AverageRequest, controls::VelocityVoltage DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC AverageRequest, controls::PositionTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC AverageRequest, controls::VelocityTorqueCurrentFOC DifferentialRequest)
	Sets the control request for this mechanism. More...

Static Public Attributes
static constexpr int	kDefaultConfigRetries = 5
	The default number of retries for config applies. More...

Detailed Description

Manages control of a two-axis differential mechanism.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Member Enumeration Documentation

◆ DifferentialPigeon2Source

enum class ctre::phoenix6::mechanisms::DifferentialMechanism::DifferentialPigeon2Source

strong

Sensor sources for a differential Pigeon 2.

Enumerator
Yaw
Pitch
Roll

◆ DisabledReason

enum class ctre::phoenix6::mechanisms::DifferentialMechanism::DisabledReason

strong

Possible reasons for the mechanism to disable.

Enumerator
None	No reason given.
MissingRemoteSensor	A remote sensor is not present on CAN Bus.
MissingDifferentialFX	The remote Talon FX used for differential control is not present on CAN Bus.
RemoteSensorPosOverflow	A remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for a 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.
DeviceHasReset	A device or remote sensor has reset.

◆ RequiresUserReason

enum class ctre::phoenix6::mechanisms::DifferentialMechanism::RequiresUserReason

strong

Possible reasons for the mechanism to require user action to resume control.

Enumerator

None

No reason given.

RemoteSensorPosOverflow

A remote sensor position has overflowed.

Because of the nature of remote sensors, it is possible for a 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.

DeviceHasReset

A device or remote sensor has reset.

Constructor & Destructor Documentation

◆ DifferentialMechanism() [1/3]

ctre::phoenix6::mechanisms::DifferentialMechanism::DifferentialMechanism	(	hardware::TalonFX &	differentialAddFX,
		hardware::TalonFX &	differentialSubFX,
		bool	motorDirectionsAlign
	)

inline

Creates a new differential mechanism using the given two hardware::TalonFX devices.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and the difference between the two Talon FX sensors on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

differentialAddFX	The Talon FX that will have the differential output added to its regular output.
differentialSubFX	The Talon FX that will have the differential output subtracted from its regular output.
motorDirectionsAlign	Whether the differential motors' directions are aligned.

◆ DifferentialMechanism() [2/3]

ctre::phoenix6::mechanisms::DifferentialMechanism::DifferentialMechanism	(	hardware::TalonFX &	differentialAddFX,
		hardware::TalonFX &	differentialSubFX,
		bool	motorDirectionsAlign,
		hardware::Pigeon2 &	pigeon2,
		DifferentialPigeon2Source	pigeonSource
	)

inline

Creates a new differential mechanism using the given two hardware::TalonFX devices and a hardware::Pigeon2.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and the selected Pigeon 2 sensor source on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

differentialAddFX	The Talon FX that will have the differential output added to its regular output.
differentialSubFX	The Talon FX that will have the differential output subtracted from its regular output.
motorDirectionsAlign	Whether the differential motors' directions are aligned.
pigeon2	The Pigeon 2 to use for the differential axis.
pigeonSource	The sensor source to use for the Pigeon 2 (Yaw, Pitch, or Roll).

◆ DifferentialMechanism() [3/3]

ctre::phoenix6::mechanisms::DifferentialMechanism::DifferentialMechanism	(	hardware::TalonFX &	differentialAddFX,
		hardware::TalonFX &	differentialSubFX,
		bool	motorDirectionsAlign,
		hardware::CANcoder &	cancoder
	)

inline

Creates a new differential mechanism using the given two hardware::TalonFX devices and a hardware::CANcoder.

The mechanism will use the average of the two Talon FX sensors on the primary axis, and the CANcoder position/velocity on the differential axis.

This mechanism requires the devices to be Pro licensed and connected to a CAN FD bus. Unlicensed users and users on a CAN 2.0 bus can use the SimpleDifferentialMechanism instead with limited functionality.

Parameters

differentialAddFX	The Talon FX that will have the differential output added to its regular output.
differentialSubFX	The Talon FX that will have the differential output subtracted from its regular output.
motorDirectionsAlign	Whether the differential motors' directions are aligned.
cancoder	The CANcoder to use for the differential axis.

Member Function Documentation

◆ ApplyConfigs()

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism::ApplyConfigs ( int numRetries = kDefaultConfigRetries )

Apply the mechanism configs to the devices.

This should be called after applying all other configs to the devices.

If the user does not call this function by the time SetControl is called, SetControl will apply the configs once.

Parameters

numRetries Number of retries when applying the configs

Returns: Status Code of the config applies.

◆ ClearUserRequirement()

void ctre::phoenix6::mechanisms::DifferentialMechanism::ClearUserRequirement ( )

Indicate to the mechanism that the user has performed the required action to resume mechanism control.

◆ GetDifferentialFollower() [1/2]

hardware::TalonFX & ctre::phoenix6::mechanisms::DifferentialMechanism::GetDifferentialFollower ( )

inline

Get the Talon FX that is differential follower.

The differential follower's position and velocity are used by the differential leader for the differential controller.

Returns: Differential follower Talon FX

◆ GetDifferentialFollower() [2/2]

hardware::TalonFX const & ctre::phoenix6::mechanisms::DifferentialMechanism::GetDifferentialFollower ( ) const

inline

Get the Talon FX that is differential follower.

The differential follower's position and velocity are used by the differential leader for the differential controller.

Returns: Differential follower Talon FX

◆ GetDifferentialLeader() [1/2]

hardware::TalonFX & ctre::phoenix6::mechanisms::DifferentialMechanism::GetDifferentialLeader ( )

inline

Get the Talon FX that is differential leader.

The differential leader calculates the output for the differential follower. The differential leader is also used for fault detection, and it reports status signals for the differential controller.

Returns: Differential leader Talon FX

◆ GetDifferentialLeader() [2/2]

hardware::TalonFX const & ctre::phoenix6::mechanisms::DifferentialMechanism::GetDifferentialLeader ( ) const

inline

Get the Talon FX that is differential leader.

The differential leader calculates the output for the differential follower. The differential leader is also useful for fault detection, and it reports status signals for the differential controller.

Returns: Differential leader Talon FX

◆ GetDisabledReason()

DisabledReason ctre::phoenix6::mechanisms::DifferentialMechanism::GetDisabledReason ( ) const

inline

Returns: The reason for the mechanism being disabled

◆ GetMechanismState()

MechanismState ctre::phoenix6::mechanisms::DifferentialMechanism::GetMechanismState ( ) const

inline

Gets the state of the mechanism.

Returns: MechanismState representing the state of the mechanism

◆ GetRequiresUserReason()

RequiresUserReason ctre::phoenix6::mechanisms::DifferentialMechanism::GetRequiresUserReason ( ) const

inline

Returns: The reason for the mechanism requiring user action to resume control

◆ IsDisabled()

bool ctre::phoenix6::mechanisms::DifferentialMechanism::IsDisabled ( ) const

inline

Get whether the mechanism is currently disabled due to an issue.

Returns: true if the mechanism is temporarily disabled

◆ Periodic()

void ctre::phoenix6::mechanisms::DifferentialMechanism::Periodic ( )

Call this method periodically to keep the mechanism state updated.

◆ RequiresUserAction()

bool ctre::phoenix6::mechanisms::DifferentialMechanism::RequiresUserAction ( ) const

inline

Get whether the mechanism is currently disabled and requires user action to re-enable mechanism control.

Returns: true if the mechanism is disabled and the user must manually perform an action

◆ SetCoastOut()

ctre::phoenix::StatusCode ctre::phoenix6::mechanisms::DifferentialMechanism::SetCoastOut ( )

Request coast neutral output of mechanism.

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

Returns: Status Code of the request.