Package com.ctre.phoenix6.hardware

Class TalonFX

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreTalonFX
com.ctre.phoenix6.hardware.TalonFX
All Implemented Interfaces:
Sendable, MotorController, AutoCloseable
public class TalonFX
extends CoreTalonFX
implements MotorController, Sendable, AutoCloseable
WPILib-integrated version of CoreTalonFX

  • Field Details

  • Constructor Details

    • TalonFX

      public TalonFX​(int deviceId)
      Constructs a new Talon FX motor controller object.

      Constructs the device using the default CAN bus for the system:

      • "rio" on roboRIO
      • "can0" on Linux
      • "*" on Windows
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.

    • TalonFX

      public TalonFX​(int deviceId, String canbus)
      Constructs a new Talon FX motor controller object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.
      canbus - Name of the CAN bus this device is on. Possible CAN bus strings are:
      • "rio" for the native roboRIO CAN bus
      • CANivore name or serial number
      • SocketCAN interface (non-FRC Linux only)
      • "*" for any CANivore seen by the program
      • empty string (default) to select the default for the system:
        • "rio" on roboRIO
        • "can0" on Linux
        • "*" on Windows

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • set

      public void set​(double speed)
      Common interface for setting the speed of a motor controller.
      Specified by:
      set in interface MotorController
      Parameters:
      speed - The speed to set. Value should be between -1.0 and 1.0.

    • setVoltage

      public void setVoltage​(double volts)
      Common interface for seting the direct voltage output of a motor controller.
      Specified by:
      setVoltage in interface MotorController
      Parameters:
      volts - The voltage to output.

    • get

      public double get()
      Common interface for getting the current set speed of a motor controller.
      Specified by:
      get in interface MotorController
      Returns:
      The current set speed. Value is between -1.0 and 1.0.

    • setControlPrivate

      protected StatusCode setControlPrivate​(ControlRequest request)
      Overrides:
      setControlPrivate in class ParentDevice

    • disable

      public void disable()
      Common interface for disabling a motor controller.
      Specified by:
      disable in interface MotorController

    • stopMotor

      public void stopMotor()
      Common interface to stop motor movement until set is called again.
      Specified by:
      stopMotor in interface MotorController

    • setInverted

      public void setInverted​(boolean isInverted)
      Common interface for inverting direction of a motor controller.

      Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      Specified by:
      setInverted in interface MotorController
      Parameters:
      isInverted - The state of inversion, true is inverted.

    • getInverted

      public boolean getInverted()
      Common interface for returning the inversion state of a motor controller.

      Since invert is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      Specified by:
      getInverted in interface MotorController
      Returns:
      The state of the inversion, true is inverted.

    • setNeutralMode

      public void setNeutralMode​(NeutralModeValue neutralMode)
      Sets the mode of operation when output is neutral or disabled.

      Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

      Parameters:
      neutralMode - The state of the motor controller bridge when output is neutral or disabled

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Specified by:
      initSendable in interface Sendable

    • getDescription

      public String getDescription()
      Returns:
      Description of motor controller

    • feed

      public void feed()
      Feed the motor safety object.

      Resets the timer on this object that is used to do the timeouts.

    • setExpiration

      public void setExpiration​(double expirationTime)
      Set the expiration time for the corresponding motor safety object.
      Parameters:
      expirationTime - The timeout value in seconds.

    • getExpiration

      public double getExpiration()
      Retrieve the timeout value for the corresponding motor safety object.
      Returns:
      the timeout value in seconds.

    • isAlive

      public boolean isAlive()
      Determine of the motor is still operating or has timed out.
      Returns:
      a true value if the motor is still operating normally and hasn't timed out.

    • setSafetyEnabled

      public void setSafetyEnabled​(boolean enabled)
      Enable/disable motor safety for this device.

      Turn on and off the motor safety option for this object.

      Parameters:
      enabled - True if motor safety is enforced for this object.

    • isSafetyEnabled

      public boolean isSafetyEnabled()
      Return the state of the motor safety enabled flag.

      Return if the motor safety is currently enabled for this device.

      Returns:
      True if motor safety is enforced for this device