All Classes and Interfaces
Class
Description
Requires Phoenix Pro; Improves commutation and velocity measurement for
motors with hall sensors.
A collection of timestamps for a received signal.
The applied rotor polarity as seen from the front of the motor.
Configs that affect audible components of the device.
Class that provides operations to retrieve
information about a status signal.
The applied output of the bridge.
If a brushed motor is selected with Motor Arrangement, this config determines
which of three leads to use.
Class for getting information about an available CAN bus.
Contains status information about a CAN bus.
WPILib-integrated version of
CoreCANcoderClass for CANcoder, a CAN based magnetic encoder that provides absolute and
relative position along with filtered velocity.
Class for CANcoder, a CAN based magnetic encoder that provides absolute and
relative position along with filtered velocity.
Class to control the state of a simulated
CANcoder.WPILib-integrated version of
CoreCANdiClass for CANdi, a CAN digital input device that detects when a digital
signal is asserted or deasserted.
Class for CANdi, a CAN digital input device that detects when a digital
signal is asserted or deasserted.
Class to control the state of a simulated
CANdi.WPILib-integrated version of
CoreCANrangeClass for CANrange, a CAN based Time of Flight (ToF) sensor that measures the
distance to the front of the device.
Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the
distance to the front of the device.
Class to control the state of a simulated
CANrange.Represents the orientation of a device relative to the robot chassis.
Configs that affect general behavior during closed-looping.
Configs that affect the closed-loop control of this motor
controller.
Request coast neutral output of actuator.
Contains everything common between Talon motor controllers.
Contains everything common between Talon motor controllers that support
external motors.
Contains everything common between Talon motor controllers that support FOC
(requires Phoenix Pro).
Configs that determine motor selection and commutation.
The type of motor attached to the Talon.
The active control mode of the motor controller.
Abstract Control Request class that other control requests extend for use.
Class for CANcoder, a CAN based magnetic encoder that provides absolute and
relative position along with filtered velocity.
Class for CANdi, a CAN digital input device that detects when a digital
signal is asserted or deasserted.
Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the
distance to the front of the device.
Class description for the Pigeon 2 IMU sensor that measures orientation.
Class description for the Talon FX integrated motor controller.
Class description for the Talon FXS motor controller.
Configs that directly affect current limiting features.
Custom Params.
Whether the device is enabled.
Enumeration of all supported device types.
Configs related to constants used for differential control of a
mechanism.
The active control mode of the differential controller.
Request a specified motor duty cycle with a differential position
closed-loop.
Follow the differential motor output of another Talon.
Manages control of a two-axis differential mechanism.
Sensor sources for a differential Pigeon 2.
Possible reasons for the mechanism to disable.
Possible reasons for the mechanism to require
user action to resume control.
Requests Motion Magic® to target a final position using a motion profile, and
PID to a differential position setpoint.
Requests Motion Magic® to target a final position using a motion profile, and
PID to a differential position setpoint.
Request PID to target position with a differential position setpoint.
Request PID to target position with a differential position setpoint
Configs related to sensors used for differential control of a
mechanism.
Choose what sensor source is used for differential control of a mechanism.
Follow the differential motor output of another Talon while ignoring the
master's invert setting.
Request PID to target velocity with a differential position setpoint.
Request PID to target velocity with a differential position setpoint.
Request a specified voltage with a differential position closed-loop.
The output mode of the differential PID controller.
Whether the closed-loop is running on position or velocity.
Whether the closed-loop is running on position or velocity.
Configs related to CANdi digital I/O settings
Request a specified motor duty cycle.
Requires Phoenix Pro and CANivore;
Requests Motion Magic® to target a final position using a motion profile.
Requires Phoenix Pro and CANivore;
Requests Motion Magic® to target a final position using a motion profile.
Requires Phoenix Pro and CANivore;
Requests Motion Magic® to target a final position using a motion profile.
Generic Empty Control class used to do nothing.
Configs that affect the external feedback sensor of this motor
controller.
Choose what sensor source is reported via API and used by closed-loop and
limit features.
Status of the temperature sensor of the external motor.
Configs that affect the feedback of this motor controller.
Choose what sensor source is reported via API and used by closed-loop and
limit features.
Follow the motor output of another Talon.
Determines where to poll the forward limit switch.
Determines if the forward limit switch is normally-open (default) or
normally-closed.
Forward Limit Pin.
Configs that affect the ToF Field of View
Whether device is locked by FRC.
Gravity Feedforward/Feedback Type.
Configs to trim the Pigeon2's gyroscope.
Configs that change how the motor controller behaves under
different limit switch states.
Contains all status signals for motor controllers that support external
motors.
Contains all control functions available for devices that support Talon
controls.
Contains all status signals available for devices that support Talon signals.
Static class for controlling Phoenix 6 hoot log replay.
Stores information about a user signal from replay.
Invert state of the device as seen from the front of the motor.
Whether the device is Pro licensed.
The Color of LED1 when it's "Off".
The Color of LED1 when it's "On".
The Color of LED2 when it's "Off".
The Color of LED2 when it's "On".
Phoenix-centric PID controller taken from WPI's
PIDController class.Extremely simplified swerve drive simulation class.
Swerve Drive class utilizing CTR Electronics' Phoenix 6 API.
Plain-Old-Data class holding the state of the swerve drivetrain.
Common constants for a swerve drivetrain.
Swerve Module class that encapsulates a swerve module powered by CTR
Electronics devices.
Supported closed-loop output types.
All possible control requests for the module drive motor.
All possible control requests for the module steer motor.
All constants for a swerve module.
Supported feedback sensors for the steer motors.
Constants that are common across the swerve modules, used
for creating instances of module-specific
LegacySwerveModuleConstants.Container for all the Swerve Requests.
Accepts a generic ChassisSpeeds to apply to the drivetrain.
Drives the swerve drivetrain in a field-centric manner.
Drives the swerve drivetrain in a field-centric manner, maintaining a
specified heading angle to ensure the robot is facing the desired direction
The reference for "forward" is sometimes different if you're talking
about field relative.
Does nothing to the swerve module state.
Sets the swerve drive modules to point to a specified direction.
Drives the swerve drivetrain in a robot-centric manner.
Sets the swerve drive module states to point inward on the
robot in an "X" fashion, creating a natural brake which will
oppose any motion.
SysId-specific SwerveRequest to characterize the rotational
characteristics of a swerve drivetrain.
SysId-specific SwerveRequest to characterize the steer module
characteristics of a swerve drivetrain.
SysId-specific SwerveRequest to characterize the translational
characteristics of a swerve drivetrain.
Whether the device is Season Pass licensed.
Magnet health as measured by CANcoder.
Configs that affect the magnet sensor and how to interpret it.
Health of the distance measurement.
Possible states of a mechanism.
Configs for Motion Magic®.
Requests Motion Magic® to target a final position using a motion profile.
Requests Motion Magic® to target a final position using an exponential motion
profile.
Requires Phoenix Pro;
Requests Motion Magic® to target a final position using an exponential motion
profile.
Requests Motion Magic® to target a final position using an exponential motion
profile.
Check if Motion Magic® is running.
Requires Phoenix Pro;
Requests Motion Magic® to target a final position using a motion profile.
Requests Motion Magic® to target a final velocity using a motion profile.
Requests Motion Magic® to target a final velocity using a motion profile.
Requests Motion Magic® to target a final velocity using a motion profile.
Requests Motion Magic® to target a final position using a motion profile.
Selects the motor and motor connections used with Talon.
Configs that directly affect motor output.
Assess the status of the motor output with respect to load and supply.
Implem of MotorSafety interface from WPILib.
Configs for Pigeon 2's Mount Pose configuration.
Plays a single tone at the user specified frequency.
The state of the motor controller bridge when output is neutral or disabled.
Request neutral output of actuator.
Configs that affect the open-loop control of this motor controller.
Orchestra is used to play music through devices.
Phoenix-centric PID controller taken from WPI's
PIDController class.The output mode of the PID controller.
Whether the closed-loop is running on position or velocity.
Whether the closed-loop is running on position or velocity.
Class description for the Pigeon 2 IMU sensor that measures orientation.
Class description for the Pigeon 2 IMU sensor that measures orientation.
Configs to enable/disable various features of the Pigeon2.
Class to control the state of a simulated
Pigeon2.Request PID to target position with duty cycle feedforward.
Requires Phoenix Pro;
Request PID to target position with torque current feedforward.
Request PID to target position with voltage feedforward
Configs that affect the ToF Proximity detection
Configs related to CANdi's PWM interface on the Signal 1 input
(S1IN)
Configs related to CANdi's PWM interface on the Signal 2 input
(S2IN)
Configs related to CANdi's quadrature interface using both the S1IN
and S2IN inputs
Determines where to poll the reverse limit switch.
Determines if the reverse limit switch is normally-open (default) or
normally-closed.
Reverse Limit Pin.
Whether the robot is enabled.
What value the Signal 1 input (S1IN) needs to be for the CANdi to detect as
Closed.
The floating state of the Signal 1 input (S1IN).
State of the Signal 1 input (S1IN).
What value the Signal 2 input (S2IN) needs to be for the CANdi to detect as
Closed.
The floating state of the Signal 2 input (S2IN).
State of the Signal 2 input (S2IN).
Direction of the sensor to determine positive rotation, as seen facing the
LED side of the CANcoder.
The relationship between the motor controlled by a Talon and the external
sensor connected to the data port.
Static class for controlling the Phoenix 6 signal logger.
Manages control of a simple two-axis differential mechanism.
Sensor sources for a differential Pigeon 2.
Possible reasons for the mechanism to disable.
Possible reasons for the mechanism to require
user action to resume control.
Simplified swerve drive simulation class.
Gains for the specified slot.
Gains for the specified slot.
Gains for the specified slot.
Gains for the specified slot.
Configs that affect how software-limit switches behave.
Applies full neutral-brake by shorting motor leads together.
Static Feedforward Sign during position closed loop.
Status codes reported by APIs, including OK,
warnings, and errors.
Represents a status signal with data of type T, and
operations available to retrieve information about
the signal.
Information from a single measurement of a status signal.
Follow the motor output of another Talon while ignoring the master's invert
setting.
Requires Phoenix Pro; Contains all FOC-exclusive control functions available
for devices that support FOC.
Contains all control functions available for motors that support playing
music.
SwerveDrivetrain<DriveMotorT extends CommonTalon,SteerMotorT extends CommonTalon,EncoderT extends ParentDevice>
Swerve Drive class utilizing CTR Electronics' Phoenix 6 API.
Functional interface for device constructors.
Contains everything the control requests need to calculate the module state.
Plain-Old-Data class holding the state of the swerve drivetrain.
Common constants for a swerve drivetrain.
SwerveModule<DriveMotorT extends CommonTalon,SteerMotorT extends CommonTalon,EncoderT extends ParentDevice>
Swerve Module class that encapsulates a swerve module powered by CTR
Electronics devices.
All possible control requests for the module drive motor.
Contains everything the swerve module needs to apply a request.
All possible control requests for the module steer motor.
SwerveModuleConstants<DriveMotorConfigsT extends ParentConfiguration,SteerMotorConfigsT extends ParentConfiguration,EncoderConfigsT extends ParentConfiguration>
All constants for a swerve module.
Supported closed-loop output types.
Supported motor arrangements for the drive motors.
Supported feedback sensors for the steer motors.
Supported motor arrangements for the steer motors.
SwerveModuleConstantsFactory<DriveMotorConfigsT extends ParentConfiguration,SteerMotorConfigsT extends ParentConfiguration,EncoderConfigsT extends ParentConfiguration>
Constants that are common across the swerve modules, used
for creating instances of module-specific
SwerveModuleConstants.Container for all the Swerve Requests.
Deprecated, for removal: This API element is subject to removal in a future version.
Accepts a generic field-centric ChassisSpeeds to apply to the drivetrain.
Accepts a generic robot-centric ChassisSpeeds to apply to the drivetrain.
Drives the swerve drivetrain in a field-centric manner.
Drives the swerve drivetrain in a field-centric manner, maintaining a
specified heading angle to ensure the robot is facing the desired direction
In field-centric control, the direction of "forward" is sometimes different
depending on perspective.
Does nothing to the swerve module state.
Swerve requests implemented in native code.
Sets the swerve drive modules to point to a specified direction.
Drives the swerve drivetrain in a robot-centric manner.
Sets the swerve drive module states to point inward on the robot in an "X"
fashion, creating a natural brake which will oppose any motion.
SysId-specific SwerveRequest to characterize the rotational
characteristics of a swerve drivetrain.
SysId-specific SwerveRequest to characterize the steer module
characteristics of a swerve drivetrain.
SysId-specific SwerveRequest to characterize the translational
characteristics of a swerve drivetrain.
System state of the device.
WPILib-integrated version of
CoreTalonFXClass description for the Talon FX integrated motor controller.
Class description for the Talon FX integrated motor controller.
WPILib-integrated version of
CoreTalonFXSClass description for the Talon FXS motor controller.
Class description for the Talon FXS motor controller.
Class to control the state of a simulated
TalonFX.Class to control the state of a simulated
TalonFXS.Information about the timestamp of a signal.
Source of the timestamp.
Configs that affect the ToF sensor
Configs that affect Torque Current control types.
Requires Phoenix Pro;
Request a specified motor current (field oriented control).
Handles enabling when used in a non-FRC manner
Update mode of the CANrange.
Request PID to target velocity with duty cycle feedforward.
Requires Phoenix Pro;
Request PID to target velocity with torque current feedforward.
Request PID to target velocity with voltage feedforward.
Configs that affect Voltage control types.
Request a specified voltage.
SwerveRequest.ApplyRobotSpeedsinstead