public class CoreTalonFX : ParentDevice
type CoreTalonFX =
class
inherit ParentDevice
end
CoreTalonFX | Constructs a new Talon FX motor controller object. |
Configurator | The configurator for this device. Users may use this to refresh and apply configs, such as the TalonFXConfiguration object |
ControlRequest |
The last applied control request.
Caller can cast this to the derived class if they know what type it is,
otherwise they can use the ControlInfo to get info out of it.
(Inherited from ParentDevice) |
DeviceHash |
Hash of this device
(Inherited from ParentDevice) |
DeviceID |
ID of this device
(Inherited from ParentDevice) |
HasResetOccurred | Returns true if device has reset since the previous call of this routine. |
Network |
Network this device is on
(Inherited from ParentDevice) |
Equals | Determines whether the specified object is equal to the current object. (Inherited from Object) |
Finalize | Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object) |
GetAcceleration |
Acceleration of the device in mechanism rotations.
|
GetAppliedRotorPolarity |
The applied rotor polarity. This typically is determined by the
Inverted config, but can be overridden if using Follower features.
Default Rates:
|
GetBridgeOutput |
The applied output of the bridge.
Default Rates:
|
GetClosedLoopSlot |
Closed loop slot in use
This is the slot that the closed loop PID is using.
|
GetControlMode |
The active control mode of the motor controller
Default Rates:
|
GetDeviceEnable |
Indicates if device is actuator enabled.
Default Rates:
|
GetDeviceTemp |
Temperature of device
This is the temperature that the device measures itself to be at.
Similar to Processor Temperature.
|
GetDifferentialAveragePosition |
Average component of the differential position of device.
|
GetDifferentialAverageVelocity |
Average component of the differential velocity of device.
|
GetDifferentialClosedLoopSlot |
Differential Closed loop slot in use
This is the slot that the closed loop differential PID is using.
|
GetDifferentialControlMode |
The active control mode of the differential controller
Default Rates:
|
GetDifferentialDifferencePosition |
Difference component of the differential position of device.
|
GetDifferentialDifferenceVelocity |
Difference component of the differential velocity of device.
|
GetDutyCycle |
The applied motor duty cycle.
|
GetFault_BootDuringEnable |
Device boot while detecting the enable signal
|
GetFault_BridgeBrownout |
Bridge was disabled most likely due to supply voltage dropping too
low.
|
GetFault_DeviceTemp |
Device temperature exceeded limit
|
GetFault_ForwardHardLimit |
Forward limit switch has been asserted. Output is set to neutral.
|
GetFault_ForwardSoftLimit |
Forward soft limit has been asserted. Output is set to neutral.
|
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.
|
GetFault_Hardware |
Hardware fault occurred
|
GetFault_MissingDifferentialFX |
The remote Talon FX used for differential control is not present
on CAN Bus.
|
GetFault_OverSupplyV |
Supply Voltage has exceeded the maximum voltage rating of device.
|
GetFault_ProcTemp |
Processor temperature exceeded limit
|
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.
|
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.
|
GetFault_RemoteSensorReset |
The remote sensor has reset.
|
GetFault_ReverseHardLimit |
Reverse limit switch has been asserted. Output is set to neutral.
|
GetFault_ReverseSoftLimit |
Reverse soft limit has been asserted. Output is set to neutral.
|
GetFault_StatorCurrLimit |
Stator current limit occured.
|
GetFault_SupplyCurrLimit |
Supply current limit occured.
|
GetFault_Undervoltage |
Device supply voltage dropped to near brownout levels
|
GetFault_UnlicensedFeatureInUse |
An unlicensed feature is in use, device may not behave as
expected.
|
GetFault_UnstableSupplyV |
Supply Voltage is unstable. Ensure you are using a battery and
current limited power supply.
|
GetFault_UsingFusedCANcoderWhileUnlicensed |
Using Fused CANcoder feature while unlicensed. Device has fallen
back to remote CANcoder.
|
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.
|
GetForwardLimit |
Forward Limit Pin.
Default Rates:
|
GetHashCode | Serves as the default hash function. (Inherited from Object) |
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:
|
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.
|
GetProcessorTemp |
Temperature of the processor
This is the temperature that the processor measures itself to be
at. Similar to Device Temperature.
|
GetResetOccurredChecker | Return a lambda that checks for device resets |
GetReverseLimit |
Reverse Limit Pin.
Default Rates:
|
GetRotorPosition |
Position of the motor rotor. This position is only affected by the
RotorOffset config.
|
GetRotorVelocity |
Velocity of the motor rotor. This velocity is not affected by any
feedback configs.
|
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.
|
GetStickyFault_BootDuringEnable |
Device boot while detecting the enable signal
|
GetStickyFault_BridgeBrownout |
Bridge was disabled most likely due to supply voltage dropping too
low.
|
GetStickyFault_DeviceTemp |
Device temperature exceeded limit
|
GetStickyFault_ForwardHardLimit |
Forward limit switch has been asserted. Output is set to neutral.
|
GetStickyFault_ForwardSoftLimit |
Forward soft limit has been asserted. Output is set to neutral.
|
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.
|
GetStickyFault_Hardware |
Hardware fault occurred
|
GetStickyFault_MissingDifferentialFX |
The remote Talon FX used for differential control is not present
on CAN Bus.
|
GetStickyFault_OverSupplyV |
Supply Voltage has exceeded the maximum voltage rating of device.
|
GetStickyFault_ProcTemp |
Processor temperature exceeded limit
|
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.
|
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.
|
GetStickyFault_RemoteSensorReset |
The remote sensor has reset.
|
GetStickyFault_ReverseHardLimit |
Reverse limit switch has been asserted. Output is set to neutral.
|
GetStickyFault_ReverseSoftLimit |
Reverse soft limit has been asserted. Output is set to neutral.
|
GetStickyFault_StatorCurrLimit |
Stator current limit occured.
|
GetStickyFault_SupplyCurrLimit |
Supply current limit occured.
|
GetStickyFault_Undervoltage |
Device supply voltage dropped to near brownout levels
|
GetStickyFault_UnlicensedFeatureInUse |
An unlicensed feature is in use, device may not behave as
expected.
|
GetStickyFault_UnstableSupplyV |
Supply Voltage is unstable. Ensure you are using a battery and
current limited power supply.
|
GetStickyFault_UsingFusedCANcoderWhileUnlicensed |
Using Fused CANcoder feature while unlicensed. Device has fallen
back to remote CANcoder.
|
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.
|
GetSupplyCurrent |
Measured supply side current
|
GetSupplyVoltage |
Measured supply voltage to the TalonFX.
|
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
|
GetType | Gets the Type of the current instance. (Inherited from Object) |
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.
|
GetVersion |
Full Version. The format is a four byte value.
Full Version of firmware in device. The format is a four byte
value.
|
GetVersionBugfix |
App Bugfix Version number.
|
GetVersionBuild |
App Build Version number.
|
GetVersionMajor |
App Major Version number.
|
GetVersionMinor |
App Minor Version number.
|
LookupStatusSignalT(UInt16, String, Boolean) |
Looks up a status signal and inserts it into the local dictionary
if not found
(Inherited from ParentDevice) |
LookupStatusSignalT(UInt16, Int32, FuncDictionaryInt32, StatusSignalT, String, Boolean) |
Looks up a status signal and inserts it into the local dictionary
if not found
(Inherited from ParentDevice) |
MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object) |
OptimizeBusUtilization |
Optimizes the device's bus utilization by reducing the update frequencies of its status signals.
All status signals that have not been explicitly given an update frequency will be
disabled. Note that if other status signals in the same status frame have been given
an update frequency, the update frequency will be honored for the entire frame.
This function only needs to be called once on this device in the robot program. Additionally, this
method does not necessarily need to be called after setting the update frequencies of other signals.
To restore the default status update frequencies, remove this method call, redeploy the robot
application, and power-cycle the devices on the bus. Alternatively, the user can override
individual status update frequencies using {@link BaseStatusSignal#setUpdateFrequency}.
(Inherited from ParentDevice) |
ReportIfTooOld |
Function to call to check if the device is
too old, and if so report it to the console output
(Overrides ParentDeviceReportIfTooOld) |
SetControl(CoastOut) | Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast. CoastOut Parameters |
SetControl(ControlRequest) | 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 |
SetControl(Diff_DutyCycleOut_PositionDutyCycle) |
Differential control with duty cycle average target and position
difference target.
|
SetControl(Diff_DutyCycleOut_VelocityDutyCycle) |
Differential control with duty cycle average target and velocity
difference target.
|
SetControl(Diff_MotionMagicDutyCycle_PositionDutyCycle) |
Differential control with Motion Magic® average target and
position difference target using dutycycle control.
|
SetControl(Diff_MotionMagicDutyCycle_VelocityDutyCycle) |
Differential control with Motion Magic® average target and
velocity difference target using dutycycle control.
|
SetControl(Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC) |
Differential control with Motion Magic® average target and
position difference target using torque current control.
|
SetControl(Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC) |
Differential control with Motion Magic® average target and
velocity difference target using torque current control.
|
SetControl(Diff_MotionMagicVoltage_PositionVoltage) |
Differential control with Motion Magic® average target and
position difference target using voltage control.
|
SetControl(Diff_MotionMagicVoltage_VelocityVoltage) |
Differential control with Motion Magic® average target and
velocity difference target using voltage control.
|
SetControl(Diff_PositionDutyCycle_PositionDutyCycle) |
Differential control with position average target and position
difference target using dutycycle control.
|
SetControl(Diff_PositionDutyCycle_VelocityDutyCycle) |
Differential control with position average target and velocity
difference target using dutycycle control.
|
SetControl(Diff_PositionTorqueCurrentFOC_PositionTorqueCurrentFOC) |
Differential control with position average target and position
difference target using torque current control.
|
SetControl(Diff_PositionTorqueCurrentFOC_VelocityTorqueCurrentFOC) |
Differential control with position average target and velocity
difference target using torque current control.
|
SetControl(Diff_PositionVoltage_PositionVoltage) |
Differential control with position average target and position
difference target using voltage control.
|
SetControl(Diff_PositionVoltage_VelocityVoltage) |
Differential control with position average target and velocity
difference target using voltage control.
|
SetControl(Diff_TorqueCurrentFOC_PositionTorqueCurrentFOC) |
Differential control with torque current average target and
position difference target.
|
SetControl(Diff_TorqueCurrentFOC_VelocityTorqueCurrentFOC) |
Differential control with torque current average target and
velocity difference target.
|
SetControl(Diff_VelocityDutyCycle_PositionDutyCycle) |
Differential control with velocity average target and position
difference target using dutycycle control.
|
SetControl(Diff_VelocityDutyCycle_VelocityDutyCycle) |
Differential control with velocity average target and velocity
difference target using dutycycle control.
|
SetControl(Diff_VelocityTorqueCurrentFOC_PositionTorqueCurrentFOC) |
Differential control with velocity average target and position
difference target using torque current control.
|
SetControl(Diff_VelocityTorqueCurrentFOC_VelocityTorqueCurrentFOC) |
Differential control with velocity average target and velocity
difference target using torque current control.
|
SetControl(Diff_VelocityVoltage_PositionVoltage) |
Differential control with velocity average target and position
difference target using voltage control.
|
SetControl(Diff_VelocityVoltage_VelocityVoltage) |
Differential control with velocity average target and velocity
difference target using voltage control.
|
SetControl(Diff_VoltageOut_PositionVoltage) |
Differential control with voltage average target and position
difference target.
|
SetControl(Diff_VoltageOut_VelocityVoltage) |
Differential control with voltage average target and velocity
difference target.
|
SetControl(DifferentialDutyCycle) |
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
|
SetControl(DifferentialFollower) |
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
|
SetControl(DifferentialMotionMagicDutyCycle) |
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.
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
|
SetControl(DifferentialMotionMagicVoltage) |
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.
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
|
SetControl(DifferentialPositionDutyCycle) |
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
|
SetControl(DifferentialPositionVoltage) |
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
|
SetControl(DifferentialStrictFollower) |
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
|
SetControl(DifferentialVelocityDutyCycle) |
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
|
SetControl(DifferentialVelocityVoltage) |
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
|
SetControl(DifferentialVoltage) |
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
|
SetControl(DutyCycleOut) |
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
|
SetControl(DynamicMotionMagicDutyCycle) |
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. 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
|
SetControl(DynamicMotionMagicTorqueCurrentFOC) |
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. 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
|
SetControl(DynamicMotionMagicVoltage) |
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. 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
|
SetControl(Follower) |
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
|
SetControl(MotionMagicDutyCycle) |
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.
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
|
SetControl(MotionMagicTorqueCurrentFOC) |
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.
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
|
SetControl(MotionMagicVelocityDutyCycle) |
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. 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
|
SetControl(MotionMagicVelocityTorqueCurrentFOC) |
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. 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
|
SetControl(MotionMagicVelocityVoltage) |
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. 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
|
SetControl(MotionMagicVoltage) |
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.
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
|
SetControl(MusicTone) |
Plays a single tone at the user specified frequency.
MusicTone Parameters
|
SetControl(NeutralOut) | Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration. NeutralOut Parameters |
SetControl(PositionDutyCycle) |
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
|
SetControl(PositionTorqueCurrentFOC) |
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
|
SetControl(PositionVoltage) |
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
|
SetControl(StaticBrake) | Applies full neutral-brake by shorting motor leads together. StaticBrake Parameters |
SetControl(StrictFollower) |
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
|
SetControl(TorqueCurrentFOC) |
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
|
SetControl(VelocityDutyCycle) |
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
|
SetControl(VelocityTorqueCurrentFOC) |
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
|
SetControl(VelocityVoltage) |
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
|
SetControl(VoltageOut) |
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
|
SetControlPrivate |
Sets the control request to this device
(Inherited from ParentDevice) |
ToString | Returns a string that represents the current object. (Inherited from Object) |
deviceIdentifier |
The unique deviceIdentifier for this device
(Inherited from ParentDevice) |