com.ctre.phoenix6.configs.TalonFXConfiguration

All Implemented Interfaces:: ParentConfiguration, ISerializable

public class TalonFXConfiguration
extends Object
implements ParentConfiguration

Class description for the Talon FX integrated motor controller. This handles the configurations for the TalonFX

Field Summary

Fields
Modifier and Type	Field	Description
`AudioConfigs`	`Audio`	Configs that affect audible components of the device.
`ClosedLoopGeneralConfigs`	`ClosedLoopGeneral`	Configs that affect general behavior during closed-looping.
`ClosedLoopRampsConfigs`	`ClosedLoopRamps`	Configs that affect the closed-loop control of this motor controller.
`CurrentLimitsConfigs`	`CurrentLimits`	Configs that directly affect current limiting features.
`CustomParamsConfigs`	`CustomParams`	Custom Params.
`DifferentialConstantsConfigs`	`DifferentialConstants`	Configs related to constants used for differential control of a mechanism.
`DifferentialSensorsConfigs`	`DifferentialSensors`	Configs related to sensors used for differential control of a mechanism.
`FeedbackConfigs`	`Feedback`	Configs that affect the feedback of this motor controller.
`boolean`	`FutureProofConfigs`	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
`HardwareLimitSwitchConfigs`	`HardwareLimitSwitch`	Configs that change how the motor controller behaves under different limit switch statse.
`MotionMagicConfigs`	`MotionMagic`	Configs for Motion Magic®.
`MotorOutputConfigs`	`MotorOutput`	Configs that directly affect motor-output.
`OpenLoopRampsConfigs`	`OpenLoopRamps`	Configs that affect the open-loop control of this motor controller.
`Slot0Configs`	`Slot0`	Gains for the specified slot.
`Slot1Configs`	`Slot1`	Gains for the specified slot.
`Slot2Configs`	`Slot2`	Gains for the specified slot.
`SoftwareLimitSwitchConfigs`	`SoftwareLimitSwitch`	Configs that affect how software-limit switches behave.
`TorqueCurrentConfigs`	`TorqueCurrent`	Configs to control the maximum and minimum applied torque when using Torque Current control types.
`VoltageConfigs`	`Voltage`	Voltage-specific configs

Constructor Summary

Constructors

Constructor Description

TalonFXConfiguration()

Method Summary

Modifier and Type	Method	Description
`StatusCode`	`deserialize(String to_deserialize)`	Take a string and deserialize it to this configuration
`String`	`serialize()`	Get the serialized form of this configuration
`String`	`toString()`
`TalonFXConfiguration`	`withAudio(AudioConfigs newAudio)`	Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)`	Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)`	Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withCurrentLimits(CurrentLimitsConfigs newCurrentLimits)`	Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withCustomParams(CustomParamsConfigs newCustomParams)`	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)`	Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)`	Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withFeedback(FeedbackConfigs newFeedback)`	Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)`	Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withMotionMagic(MotionMagicConfigs newMotionMagic)`	Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withMotorOutput(MotorOutputConfigs newMotorOutput)`	Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)`	Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withSlot0(Slot0Configs newSlot0)`	Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withSlot1(Slot1Configs newSlot1)`	Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withSlot2(Slot2Configs newSlot2)`	Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)`	Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withTorqueCurrent(TorqueCurrentConfigs newTorqueCurrent)`	Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
`TalonFXConfiguration`	`withVoltage(VoltageConfigs newVoltage)`	Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details
- FutureProofConfigs
  
  public boolean FutureProofConfigs
  
  True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
  This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.
  This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.
- MotorOutput
  
  public MotorOutputConfigs MotorOutput
  
  Configs that directly affect motor-output.
  Includes Motor Invert and various limit features.
- CurrentLimits
  
  public CurrentLimitsConfigs CurrentLimits
  
  Configs that directly affect current limiting features.
  Contains the supply/stator current limit thresholds and whether to enable them or not.
- Voltage
  
  public VoltageConfigs Voltage
  
  Voltage-specific configs
  Voltage-specific configs
- TorqueCurrent
  
  public TorqueCurrentConfigs TorqueCurrent
  
  Configs to control the maximum and minimum applied torque when using Torque Current control types.
  Similar to peak output, but for the TorqueCurrentFOC control type requests.
- Feedback
  
  public FeedbackConfigs Feedback
  
  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.
- DifferentialSensors
  
  public DifferentialSensorsConfigs DifferentialSensors
  
  Configs related to sensors used for differential control of a mechanism.
  Includes the differential sensor sources and IDs.
- DifferentialConstants
  
  public DifferentialConstantsConfigs DifferentialConstants
  
  Configs related to constants used for differential control of a mechanism.
  Includes the differential peak outputs.
- OpenLoopRamps
  
  public OpenLoopRampsConfigs OpenLoopRamps
  
  Configs that affect the open-loop control of this motor controller.
  Open-loop ramp rates for the various control types.
- ClosedLoopRamps
  
  public ClosedLoopRampsConfigs ClosedLoopRamps
  
  Configs that affect the closed-loop control of this motor controller.
  Closed-loop ramp rates for the various control types.
- HardwareLimitSwitch
  
  public HardwareLimitSwitchConfigs HardwareLimitSwitch
  
  Configs that change how the motor controller behaves under different limit switch statse.
  Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.
- Audio
  
  public AudioConfigs Audio
  
  Configs that affect audible components of the device.
  Includes configuration for the beep on boot.
- SoftwareLimitSwitch
  
  public SoftwareLimitSwitchConfigs SoftwareLimitSwitch
  
  Configs that affect how software-limit switches behave.
  Includes enabling software-limit switches and the threshold at which they're tripped.
- MotionMagic
  
  public MotionMagicConfigs MotionMagic
  
  Configs for Motion Magic®.
  Includes Velocity, Acceleration, Jerk, and Expo parameters.
- CustomParams
  
  public CustomParamsConfigs CustomParams
  
  Custom Params.
  Custom paramaters that have no real impact on controller.
- ClosedLoopGeneral
  
  public ClosedLoopGeneralConfigs ClosedLoopGeneral
  
  Configs that affect general behavior during closed-looping.
  Includes Continuous Wrap features.
- Slot0
  
  public Slot0Configs Slot0
  
  Gains for the specified slot.
  If this slot is selected, these gains are used in closed loop control requests.
- Slot1
  
  public Slot1Configs Slot1
  
  Gains for the specified slot.
  If this slot is selected, these gains are used in closed loop control requests.
- Slot2
  
  public Slot2Configs Slot2
  
  Gains for the specified slot.
  If this slot is selected, these gains are used in closed loop control requests.
Constructor Details
- TalonFXConfiguration
  
  public TalonFXConfiguration()
Method Details
- withMotorOutput
  
  public TalonFXConfiguration withMotorOutput(MotorOutputConfigs newMotorOutput)
  
  Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newMotorOutput - Parameter to modify
  
  Returns:
  
  Itself
- withCurrentLimits
  
  public TalonFXConfiguration withCurrentLimits(CurrentLimitsConfigs newCurrentLimits)
  
  Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newCurrentLimits - Parameter to modify
  
  Returns:
  
  Itself
- withVoltage
  
  public TalonFXConfiguration withVoltage(VoltageConfigs newVoltage)
  
  Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newVoltage - Parameter to modify
  
  Returns:
  
  Itself
- withTorqueCurrent
  
  public TalonFXConfiguration withTorqueCurrent(TorqueCurrentConfigs newTorqueCurrent)
  
  Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newTorqueCurrent - Parameter to modify
  
  Returns:
  
  Itself
- withFeedback
  
  public TalonFXConfiguration withFeedback(FeedbackConfigs newFeedback)
  
  Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newFeedback - Parameter to modify
  
  Returns:
  
  Itself
- withDifferentialSensors
  
  public TalonFXConfiguration withDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)
  
  Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newDifferentialSensors - Parameter to modify
  
  Returns:
  
  Itself
- withDifferentialConstants
  
  public TalonFXConfiguration withDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)
  
  Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newDifferentialConstants - Parameter to modify
  
  Returns:
  
  Itself
- withOpenLoopRamps
  
  public TalonFXConfiguration withOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)
  
  Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newOpenLoopRamps - Parameter to modify
  
  Returns:
  
  Itself
- withClosedLoopRamps
  
  public TalonFXConfiguration withClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)
  
  Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newClosedLoopRamps - Parameter to modify
  
  Returns:
  
  Itself
- withHardwareLimitSwitch
  
  public TalonFXConfiguration withHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)
  
  Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newHardwareLimitSwitch - Parameter to modify
  
  Returns:
  
  Itself
- withAudio
  
  public TalonFXConfiguration withAudio(AudioConfigs newAudio)
  
  Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newAudio - Parameter to modify
  
  Returns:
  
  Itself
- withSoftwareLimitSwitch
  
  public TalonFXConfiguration withSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)
  
  Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newSoftwareLimitSwitch - Parameter to modify
  
  Returns:
  
  Itself
- withMotionMagic
  
  public TalonFXConfiguration withMotionMagic(MotionMagicConfigs newMotionMagic)
  
  Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newMotionMagic - Parameter to modify
  
  Returns:
  
  Itself
- withCustomParams
  
  public TalonFXConfiguration withCustomParams(CustomParamsConfigs newCustomParams)
  
  Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newCustomParams - Parameter to modify
  
  Returns:
  
  Itself
- withClosedLoopGeneral
  
  public TalonFXConfiguration withClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)
  
  Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newClosedLoopGeneral - Parameter to modify
  
  Returns:
  
  Itself
- withSlot0
  
  public TalonFXConfiguration withSlot0(Slot0Configs newSlot0)
  
  Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newSlot0 - Parameter to modify
  
  Returns:
  
  Itself
- withSlot1
  
  public TalonFXConfiguration withSlot1(Slot1Configs newSlot1)
  
  Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newSlot1 - Parameter to modify
  
  Returns:
  
  Itself
- withSlot2
  
  public TalonFXConfiguration withSlot2(Slot2Configs newSlot2)
  
  Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.
  
  Parameters:
  
  newSlot2 - Parameter to modify
  
  Returns:
  
  Itself
- toString
  
  public String toString()
  
  Overrides:
  
  toString in class Object
- serialize
  
  public String serialize()
  
  Get the serialized form of this configuration
  
  Specified by:
  
  serialize in interface ISerializable
  
  Returns:
  
  Serialized form of this config group
- deserialize
  
  public StatusCode deserialize(String to_deserialize)
  
  Take a string and deserialize it to this configuration
  
  Specified by:
  
  deserialize in interface ParentConfiguration
  
  Returns:
  
  Return code of the deserialize method

Class TalonFXConfiguration

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Constructor Details

Method Details