Package com.ctre.phoenix6.configs

Class FeedbackConfigs

java.lang.Object
com.ctre.phoenix6.configs.FeedbackConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable
public class FeedbackConfigs extends Object implements ParentConfiguration
Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

  • Field Details

    • FeedbackRotorOffset

      public double FeedbackRotorOffset
      The offset applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.
      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations

    • SensorToMechanismRatio

      public double SensorToMechanismRatio
      The ratio of sensor rotations to the mechanism's output, where a ratio greater than 1 is a reduction.

      This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

      We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

      If this is set to zero, the device will reset back to one.

      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar

    • RotorToSensorRatio

      public double RotorToSensorRatio
      The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

      The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

      If this is set to zero, the device will reset back to one.

      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar

    • FeedbackSensorSource

      public FeedbackSensorSourceValue FeedbackSensorSource
      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.

      Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon internal rotor will not be used.

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

      Choose Sync* (requires Phoenix Pro) and Talon will synchronize its internal rotor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor 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 will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

      Note: When the feedback source is changed to Fused* or Sync*, the Talon 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 remote sensor's Position signal.

    • FeedbackRemoteSensorID

      public int FeedbackRemoteSensorID
      Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.
      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:

    • VelocityFilterTimeConstant

      public double VelocityFilterTimeConstant
      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds

  • Constructor Details

  • Method Details

    • withFeedbackRotorOffset

      public FeedbackConfigs withFeedbackRotorOffset(double newFeedbackRotorOffset)
      Modifies this configuration's FeedbackRotorOffset parameter and returns itself for method-chaining and easier to use config API.

      The offset applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Parameters:
      newFeedbackRotorOffset - Parameter to modify
      Returns:
      Itself

    • withFeedbackRotorOffset

      public FeedbackConfigs withFeedbackRotorOffset(Angle newFeedbackRotorOffset)
      Modifies this configuration's FeedbackRotorOffset parameter and returns itself for method-chaining and easier to use config API.

      The offset applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Parameters:
      newFeedbackRotorOffset - Parameter to modify
      Returns:
      Itself

    • getFeedbackRotorOffsetMeasure

      public Angle getFeedbackRotorOffsetMeasure()
      Helper method to get this configuration's FeedbackRotorOffset parameter converted to a unit type. If not using the Java units library, FeedbackRotorOffset can be accessed directly instead.

      The offset applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Returns:
      FeedbackRotorOffset

    • withSensorToMechanismRatio

      public FeedbackConfigs withSensorToMechanismRatio(double newSensorToMechanismRatio)
      Modifies this configuration's SensorToMechanismRatio parameter and returns itself for method-chaining and easier to use config API.

      The ratio of sensor rotations to the mechanism's output, where a ratio greater than 1 is a reduction.

      This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

      We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

      If this is set to zero, the device will reset back to one.

      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar
      Parameters:
      newSensorToMechanismRatio - Parameter to modify
      Returns:
      Itself

    • withRotorToSensorRatio

      public FeedbackConfigs withRotorToSensorRatio(double newRotorToSensorRatio)
      Modifies this configuration's RotorToSensorRatio parameter and returns itself for method-chaining and easier to use config API.

      The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

      The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

      If this is set to zero, the device will reset back to one.

      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar
      Parameters:
      newRotorToSensorRatio - Parameter to modify
      Returns:
      Itself

    • withFeedbackSensorSource

      public FeedbackConfigs withFeedbackSensorSource(FeedbackSensorSourceValue newFeedbackSensorSource)
      Modifies this configuration's FeedbackSensorSource parameter and returns itself for method-chaining and easier to use config API.

      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.

      Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon internal rotor will not be used.

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

      Choose Sync* (requires Phoenix Pro) and Talon will synchronize its internal rotor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor 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 will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

      Note: When the feedback source is changed to Fused* or Sync*, the Talon 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 remote sensor's Position signal.

      Parameters:
      newFeedbackSensorSource - Parameter to modify
      Returns:
      Itself

    • withFeedbackRemoteSensorID

      public FeedbackConfigs withFeedbackRemoteSensorID(int newFeedbackRemoteSensorID)
      Modifies this configuration's FeedbackRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

      Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:
      Parameters:
      newFeedbackRemoteSensorID - Parameter to modify
      Returns:
      Itself

    • withVelocityFilterTimeConstant

      public FeedbackConfigs withVelocityFilterTimeConstant(double newVelocityFilterTimeConstant)
      Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chaining and easier to use config API.

      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds
      Parameters:
      newVelocityFilterTimeConstant - Parameter to modify
      Returns:
      Itself

    • withVelocityFilterTimeConstant

      public FeedbackConfigs withVelocityFilterTimeConstant(Time newVelocityFilterTimeConstant)
      Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chaining and easier to use config API.

      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds
      Parameters:
      newVelocityFilterTimeConstant - Parameter to modify
      Returns:
      Itself

    • getVelocityFilterTimeConstantMeasure

      public Time getVelocityFilterTimeConstantMeasure()
      Helper method to get this configuration's VelocityFilterTimeConstant parameter converted to a unit type. If not using the Java units library, VelocityFilterTimeConstant can be accessed directly instead.

      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds
      Returns:
      VelocityFilterTimeConstant

    • withRemoteCANcoder

      public FeedbackConfigs withRemoteCANcoder(CoreCANcoder device)
      Helper method to configure this feedback group to use RemoteCANcoder by passing in the CANcoder object.

      When using RemoteCANcoder, the Talon will use another CANcoder on the same CAN bus. The Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon internal rotor will not be used.

      Parameters:
      device - CANcoder reference to use for RemoteCANcoder
      Returns:
      Itself

    • withFusedCANcoder

      public FeedbackConfigs withFusedCANcoder(CoreCANcoder device)
      Helper method to configure this feedback group to use FusedCANcoder by passing in the CANcoder object.

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

      Parameters:
      device - CANcoder reference to use for FusedCANcoder
      Returns:
      Itself

    • withSyncCANcoder

      public FeedbackConfigs withSyncCANcoder(CoreCANcoder device)
      Helper method to configure this feedback group to use SyncCANcoder by passing in the CANcoder object.

      When using SyncCANcoder (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANcoder, then continue to use the rotor sensor for closed loop control. The Talon 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.

      Parameters:
      device - CANcoder reference to use for SyncCANcoder
      Returns:
      Itself

    • withRemoteCANdiPwm1

      public FeedbackConfigs withRemoteCANdiPwm1(CoreCANdi device)
      Helper method to configure this feedback group to use RemoteCANdi PWM 1 by passing in the CANdi object.
      Parameters:
      device - CANdi reference to use for RemoteCANdi
      Returns:
      Itself

    • withRemoteCANdiPwm2

      public FeedbackConfigs withRemoteCANdiPwm2(CoreCANdi device)
      Helper method to configure this feedback group to use RemoteCANdi PWM 2 by passing in the CANdi object.
      Parameters:
      device - CANdi reference to use for RemoteCANdi
      Returns:
      Itself

    • withRemoteCANdiQuadrature

      public FeedbackConfigs withRemoteCANdiQuadrature(CoreCANdi device)
      Helper method to configure this feedback group to use RemoteCANdi Quadrature by passing in the CANdi object.
      Parameters:
      device - CANdi reference to use for RemoteCANdi
      Returns:
      Itself

    • withFusedCANdiPwm1

      public FeedbackConfigs withFusedCANdiPwm1(CoreCANdi device)
      Helper method to configure this feedback group to use FusedCANdi PWM 1 by passing in the CANdi object.

      When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

      Parameters:
      device - CANdi reference to use for FusedCANdi
      Returns:
      Itself

    • withFusedCANdiPwm2

      public FeedbackConfigs withFusedCANdiPwm2(CoreCANdi device)
      Helper method to configure this feedback group to use FusedCANdi PWM 2 by passing in the CANdi object.

      When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

      Parameters:
      device - CANdi reference to use for FusedCANdi
      Returns:
      Itself

    • withFusedCANdiQuadrature

      public FeedbackConfigs withFusedCANdiQuadrature(CoreCANdi device)
      Helper method to configure this feedback group to use FusedCANdi Quadrature by passing in the CANdi object.

      When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

      Parameters:
      device - CANdi reference to use for FusedCANdi
      Returns:
      Itself

    • withSyncCANdiPwm1

      public FeedbackConfigs withSyncCANdiPwm1(CoreCANdi device)
      Helper method to configure this feedback group to use SyncCANdi PWM 1 by passing in the CANdi object.

      When using SyncCANdi (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANdi™ branded device, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANdi™ branded device's position. SyncCANdi was developed for mechanisms where there is a risk of the CANdi™ branded device failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

      Parameters:
      device - CANdi reference to use for SyncCANdi
      Returns:
      Itself

    • withSyncCANdiPwm2

      public FeedbackConfigs withSyncCANdiPwm2(CoreCANdi device)
      Helper method to configure this feedback group to use SyncCANdi PWM 2 by passing in the CANdi object.

      When using SyncCANdi (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANdi™ branded device, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANdi™ branded device's position. SyncCANdi was developed for mechanisms where there is a risk of the CANdi™ branded device failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

      Parameters:
      device - CANdi reference to use for SyncCANdi
      Returns:
      Itself

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • deserialize

      public StatusCode deserialize(String to_deserialize)
      Specified by:
      deserialize in interface ParentConfiguration

    • serialize

      public String serialize()
      Specified by:
      serialize in interface ISerializable