ctre::phoenix6::signals::FeedbackSensorSourceValue Class Reference

Choose what sensor source is reported via API and used by closed-loop and limit features. More...

#include <ctre/phoenix6/signals/SpnEnums.hpp>

Inheritance diagram for ctre::phoenix6::signals::FeedbackSensorSourceValue:

Public Member Functions
	FeedbackSensorSourceValue (int value)
	FeedbackSensorSourceValue ()
std::string	ToString () const
	Gets the string representation of this enum. More...
std::string	Serialize () const
bool	operator== (const FeedbackSensorSourceValue &data) const
bool	operator== (int data) const
bool	operator< (const FeedbackSensorSourceValue &data) const
bool	operator< (int data) const
virtual std::string	Serialize () const =0

Public Attributes
int	value

Static Public Attributes
static constexpr int	RotorSensor = 0
static constexpr int	RemoteCANcoder = 1
static constexpr int	RemotePigeon2_Yaw = 2
static constexpr int	RemotePigeon2_Pitch = 3
static constexpr int	RemotePigeon2_Roll = 4
static constexpr int	FusedCANcoder = 5
static constexpr int	SyncCANcoder = 6

Friends
std::ostream &	operator<< (std::ostream &os, const FeedbackSensorSourceValue &data)

Detailed Description

Choose what sensor source is reported via API and used by closed-loop and limit features.

The default is RotorSensor, which uses the internal rotor sensor in the Talon FX.

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon FX will update its position and velocity whenever CANcoder publishes its information on CAN bus.

Choose FusedCANcoder (requires Phoenix Pro) and Talon FX will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

Choose SyncCANcoder (requires Phoenix Pro) and Talon FX will synchronize its internal rotor position against another CANcoder, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The TalonFX will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon FX will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX position will be in rotations and not degrees.

Note: When the feedback source is changed to FusedCANcoder, the Talon FX needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the CANcoder's Position signal.

Constructor & Destructor Documentation

FeedbackSensorSourceValue() [1/2]

ctre::phoenix6::signals::FeedbackSensorSourceValue::FeedbackSensorSourceValue ( int  value )

inline

FeedbackSensorSourceValue() [2/2]

ctre::phoenix6::signals::FeedbackSensorSourceValue::FeedbackSensorSourceValue ( )

inline

Member Function Documentation

operator<() [1/2]

bool ctre::phoenix6::signals::FeedbackSensorSourceValue::operator< ( const FeedbackSensorSourceValue &  data ) const

inline

operator<() [2/2]

bool ctre::phoenix6::signals::FeedbackSensorSourceValue::operator< ( int  data ) const

inline

operator==() [1/2]

bool ctre::phoenix6::signals::FeedbackSensorSourceValue::operator== ( const FeedbackSensorSourceValue &  data ) const

inline

operator==() [2/2]

bool ctre::phoenix6::signals::FeedbackSensorSourceValue::operator== ( int  data ) const

inline

Serialize()

std::string ctre::phoenix6::signals::FeedbackSensorSourceValue::Serialize ( ) const

inlinevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::signals::FeedbackSensorSourceValue::ToString ( ) const

inline

Gets the string representation of this enum.

Returns

String representation of this enum

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const FeedbackSensorSourceValue &  data  )

friend

Member Data Documentation

FusedCANcoder

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::FusedCANcoder = 5

staticconstexpr

RemoteCANcoder

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::RemoteCANcoder = 1

staticconstexpr

RemotePigeon2_Pitch

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::RemotePigeon2_Pitch = 3

staticconstexpr

RemotePigeon2_Roll

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::RemotePigeon2_Roll = 4

staticconstexpr

RemotePigeon2_Yaw

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::RemotePigeon2_Yaw = 2

staticconstexpr

RotorSensor

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::RotorSensor = 0

staticconstexpr

SyncCANcoder

constexpr int ctre::phoenix6::signals::FeedbackSensorSourceValue::SyncCANcoder = 6

staticconstexpr

value

int ctre::phoenix6::signals::FeedbackSensorSourceValue::value

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

• ctre/phoenix6/signals/SpnEnums.hpp