Class to control the state of a simulated hardware::TalonFX. More...

#include <ctre/phoenix6/sim/TalonFXSimState.hpp>

Public Member Functions
	TalonFXSimState (hardware::core::CoreTalonFX const &device)
	Creates an object to control the state of the given hardware::TalonFX.

	TalonFXSimState (hardware::core::CoreTalonFX const &device, ChassisReference orientation)
	Creates an object to control the state of the given hardware::TalonFX.

	TalonFXSimState (TalonFXSimState const &)=delete

	TalonFXSimState (TalonFXSimState &&)=default

TalonFXSimState &	operator= (TalonFXSimState const &)=delete

TalonFXSimState &	operator= (TalonFXSimState &&)=default

ctre::phoenix::StatusCode	GetLastStatusCode () const
	Gets the last status code generated by a simulation function.

units::voltage::volt_t	GetMotorVoltage () const
	Gets the simulated output voltage of the motor.

units::current::ampere_t	GetTorqueCurrent () const
	Gets the simulated output torque current of the motor.

units::current::ampere_t	GetSupplyCurrent () const
	Gets the simulated supply current of the TalonFX.

ctre::phoenix::StatusCode	SetSupplyVoltage (units::voltage::volt_t volts)
	Sets the simulated supply voltage of the TalonFX.

ctre::phoenix::StatusCode	SetForwardLimit (bool closed)
	Sets the simulated forward limit switch of the TalonFX.

ctre::phoenix::StatusCode	SetReverseLimit (bool closed)
	Sets the simulated reverse limit switch of the TalonFX.

ctre::phoenix::StatusCode	SetRawRotorPosition (units::angle::turn_t rotations)
	Sets the simulated raw rotor position of the TalonFX.

ctre::phoenix::StatusCode	AddRotorPosition (units::angle::turn_t dRotations)
	Adds to the simulated rotor position of the TalonFX.

ctre::phoenix::StatusCode	SetRotorVelocity (units::angular_velocity::turns_per_second_t rps)
	Sets the simulated rotor velocity of the TalonFX.

ctre::phoenix::StatusCode	SetRotorAcceleration (units::angular_acceleration::turns_per_second_squared_t rpss)
	Sets the simulated rotor acceleration of the TalonFX.

Public Attributes
ChassisReference	Orientation
	The orientation of the TalonFX relative to the robot chassis.

Detailed Description

Class to control the state of a simulated hardware::TalonFX.

Constructor & Destructor Documentation

◆ TalonFXSimState() [1/4]

ctre::phoenix6::sim::TalonFXSimState::TalonFXSimState ( hardware::core::CoreTalonFX const & device )

inline

Creates an object to control the state of the given hardware::TalonFX.

This constructor defaults to a counter-clockwise positive orientation relative to the robot chassis. Note the recommended method of accessing simulation features is to use hardware::TalonFX::GetSimState.

Parameters

device Device to which this simulation state is attached

◆ TalonFXSimState() [2/4]

ctre::phoenix6::sim::TalonFXSimState::TalonFXSimState	(	hardware::core::CoreTalonFX const &	device,
		ChassisReference	orientation )

Creates an object to control the state of the given hardware::TalonFX.

Note the recommended method of accessing simulation features is to use hardware::TalonFX::GetSimState.

Parameters

device	Device to which this simulation state is attached
orientation	Orientation of the device relative to the robot chassis

◆ TalonFXSimState() [3/4]

ctre::phoenix6::sim::TalonFXSimState::TalonFXSimState ( TalonFXSimState const & )

delete

◆ TalonFXSimState() [4/4]

ctre::phoenix6::sim::TalonFXSimState::TalonFXSimState ( TalonFXSimState && )

default

Member Function Documentation

◆ AddRotorPosition()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::AddRotorPosition ( units::angle::turn_t dRotations )

Adds to the simulated rotor position of the TalonFX.

This adds to the position of the rotor (before gear ratio) used for the RotorSensor feedback source.

Parameters

dRotations The change in position in rotations

Returns: Status code

◆ GetLastStatusCode()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::GetLastStatusCode ( ) const

Gets the last status code generated by a simulation function.

Not all functions return a status code but can potentially report errors. This function can be used to retrieve those status codes.

Returns: Last status code generated by a simulation function

◆ GetMotorVoltage()

units::voltage::volt_t ctre::phoenix6::sim::TalonFXSimState::GetMotorVoltage ( ) const

Gets the simulated output voltage of the motor.

Returns: Voltage applied to the motor in Volts

◆ GetSupplyCurrent()

units::current::ampere_t ctre::phoenix6::sim::TalonFXSimState::GetSupplyCurrent ( ) const

Gets the simulated supply current of the TalonFX.

Phoenix 6 simulation automatically calculates current.

Returns: Supply current of the TalonFX in Amperes

◆ GetTorqueCurrent()

units::current::ampere_t ctre::phoenix6::sim::TalonFXSimState::GetTorqueCurrent ( ) const

Gets the simulated output torque current of the motor.

Phoenix 6 simulation automatically calculates current.

Returns: Torque current applied to the motor in Amperes

◆ operator=() [1/2]

TalonFXSimState & ctre::phoenix6::sim::TalonFXSimState::operator= ( TalonFXSimState && )

default

◆ operator=() [2/2]

TalonFXSimState & ctre::phoenix6::sim::TalonFXSimState::operator= ( TalonFXSimState const & )

delete

◆ SetForwardLimit()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::SetForwardLimit ( bool closed )

Sets the simulated forward limit switch of the TalonFX.

Parameters

closed Whether the limit switch is closed

Returns: Status code

◆ SetRawRotorPosition()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::SetRawRotorPosition ( units::angle::turn_t rotations )

Sets the simulated raw rotor position of the TalonFX.

This is the position of the rotor (before gear ratio) used for the RotorSensor feedback source.

Inputs to this function over time should be continuous, as user calls of hardware::TalonFX::SetPosition will be accounted for in the callee.

The TalonFX integrates this to calculate the true reported rotor position.

When using the WPI Sim GUI, you will notice a readonly position and settable rawPositionInput. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to rawPositionInput will be integrated into the emulated position. This way a simulator can modify the position without overriding hardware API calls for home-ing the sensor.

Parameters

rotations The raw position in rotations

Returns: Status code

◆ SetReverseLimit()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::SetReverseLimit ( bool closed )

Sets the simulated reverse limit switch of the TalonFX.

Parameters

closed Whether the limit switch is closed

Returns: Status code

◆ SetRotorAcceleration()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::SetRotorAcceleration ( units::angular_acceleration::turns_per_second_squared_t rpss )

Sets the simulated rotor acceleration of the TalonFX.

This is the acceleration of the rotor (before gear ratio) used for the RotorSensor feedback source.

Parameters

rpss	The new acceleration in rotations per second²

Returns: Status code

◆ SetRotorVelocity()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::SetRotorVelocity ( units::angular_velocity::turns_per_second_t rps )

Sets the simulated rotor velocity of the TalonFX.

This is the velocity of the rotor (before gear ratio) used for the RotorSensor feedback source.

Parameters

rps	The new velocity in rotations per second

Returns: Status code

◆ SetSupplyVoltage()

ctre::phoenix::StatusCode ctre::phoenix6::sim::TalonFXSimState::SetSupplyVoltage ( units::voltage::volt_t volts )

Sets the simulated supply voltage of the TalonFX.

The minimum allowed supply voltage is 4 V - values below this will be promoted to 4 V.

Parameters

volts The supply voltage in Volts

Returns: Status code

Member Data Documentation

◆ Orientation

ChassisReference ctre::phoenix6::sim::TalonFXSimState::Orientation

The orientation of the TalonFX relative to the robot chassis.

This value should not be changed based on the TalonFX invert. Rather, this value should be changed when the mechanical linkage between the TalonFX and the robot changes.

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

ctre/phoenix6/sim/TalonFXSimState.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TalonFXSimState() [1/4]

◆ TalonFXSimState() [2/4]

◆ TalonFXSimState() [3/4]

◆ TalonFXSimState() [4/4]

Member Function Documentation

◆ AddRotorPosition()

◆ GetLastStatusCode()

◆ GetMotorVoltage()

◆ GetSupplyCurrent()

◆ GetTorqueCurrent()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SetForwardLimit()

◆ SetRawRotorPosition()

◆ SetReverseLimit()

◆ SetRotorAcceleration()

◆ SetRotorVelocity()

◆ SetSupplyVoltage()

Member Data Documentation

◆ Orientation