Choose what sensor source is used for differential control of a mechanism. More...
#include <ctre/phoenix6/signals/SpnEnums.hpp>
Public Member Functions | |
| constexpr | DifferentialSensorSourceValue (int value) |
| constexpr | DifferentialSensorSourceValue () |
| constexpr bool | operator== (DifferentialSensorSourceValue data) const |
| constexpr bool | operator== (int data) const |
| constexpr bool | operator!= (DifferentialSensorSourceValue data) const |
| constexpr bool | operator!= (int data) const |
| constexpr bool | operator< (DifferentialSensorSourceValue data) const |
| constexpr bool | operator< (int data) const |
| std::string | ToString () const |
| Gets the string representation of this enum. | |
| std::string | Serialize () const |
 Public Member Functions inherited from ctre::phoenix6::ISerializable | |
Public Attributes | |
| int | value |
Static Public Attributes | |
| static constexpr int | Disabled = 0 |
| Disable differential control. | |
| static constexpr int | RemoteTalonFX_Diff = 1 |
| Use another TalonFX on the same CAN bus. | |
| static constexpr int | RemotePigeon2_Yaw = 2 |
| Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). | |
| static constexpr int | RemotePigeon2_Pitch = 3 |
| Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). | |
| static constexpr int | RemotePigeon2_Roll = 4 |
| Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). | |
| static constexpr int | RemoteCANcoder = 5 |
| Use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). | |
Friends | |
| std::ostream & | operator<< (std::ostream &os, DifferentialSensorSourceValue data) |
Detailed Description
Choose what sensor source is used for differential control of a mechanism.
The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.
Choose RemoteTalonFX_Diff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.
Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.
Constructor & Destructor Documentation
◆ DifferentialSensorSourceValue() [1/2]
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inlineconstexpr |
◆ DifferentialSensorSourceValue() [2/2]
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inlineconstexpr |
Member Function Documentation
◆ operator!=() [1/2]
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inlineconstexpr |
◆ operator!=() [2/2]
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inlineconstexpr |
◆ operator<() [1/2]
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inlineconstexpr |
◆ operator<() [2/2]
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inlineconstexpr |
◆ operator==() [1/2]
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inlineconstexpr |
◆ operator==() [2/2]
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inlineconstexpr |
◆ Serialize()
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inlinevirtual |
Implements ctre::phoenix6::ISerializable.
◆ ToString()
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inline |
Gets the string representation of this enum.
- Returns
- String representation of this enum
Friends And Related Symbol Documentation
◆ operator<<
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friend |
Member Data Documentation
◆ Disabled
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staticconstexpr |
Disable differential control.
◆ RemoteCANcoder
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staticconstexpr |
Use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.
◆ RemotePigeon2_Pitch
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staticconstexpr |
Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
Talon FX will update its differential position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
◆ RemotePigeon2_Roll
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staticconstexpr |
Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
Talon FX will update its differential position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
◆ RemotePigeon2_Yaw
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staticconstexpr |
Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
Talon FX will update its differential position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
◆ RemoteTalonFX_Diff
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staticconstexpr |
Use another TalonFX on the same CAN bus.
Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.
◆ value
| int ctre::phoenix6::signals::DifferentialSensorSourceValue::value |
The documentation for this class was generated from the following file:
- ctre/phoenix6/signals/SpnEnums.hpp
