com.ctre.phoenix6.hardware.core.CoreTalonFX

Direct Known Subclasses:: TalonFX

public class CoreTalonFX
extends ParentDevice

Class description for the Talon FX integrated motor controller.

 // Constants used in TalonFX construction
 final int kTalonFXId = 0;
 final String kTalonFXCANbus = "canivore";
 
 // Construct the TalonFX
 TalonFX talonfx = new TalonFX(kTalonFXId, kTalonFXCANbus);
 
 // Configure the TalonFX for basic use
 TalonFXConfiguration configs = new TalonFXConfiguration();
 // This TalonFX should be configured with a kP of 1, a kI of 0, a kD of 10, and a kV of 2 on slot 0
 configs.Slot0.kP = 1;
 configs.Slot0.kI = 0;
 configs.Slot0.kD = 10;
 configs.Slot0.kV = 2;
 
 // Write these configs to the TalonFX
 talonfx.getConfigurator().apply(configs);
 
 // Set the position to 0 rotations for initial use
 talonfx.setPosition(0);
 
 // Get Position and Velocity
 var position = talonfx.getPosition();
 var velocity = talonfx.getVelocity();
 
 // Refresh and print these values
 System.out.println("Position is " + position.refresh().toString());
 System.out.println("Velocity is " + velocity.refresh().toString());

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenix6.hardware.ParentDevice
ParentDevice.MapGenerator<T>
Field Summary

Fields inherited from class com.ctre.phoenix6.hardware.ParentDevice
_emptyControl, deviceIdentifier

Constructor Summary

Constructors
Constructor	Description
`CoreTalonFX(int deviceId)`	Constructs a new Talon FX motor controller object.
`CoreTalonFX(int deviceId, String canbus)`	Constructs a new Talon FX motor controller object.

Method Summary

Modifier and Type	Method	Description
`StatusCode`	`clearStickyFault_BootDuringEnable()`	Clear sticky fault: Device boot while detecting the enable signal
`StatusCode`	`clearStickyFault_BootDuringEnable(double timeoutSeconds)`	Clear sticky fault: Device boot while detecting the enable signal
`StatusCode`	`clearStickyFault_BridgeBrownout()`	Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
`StatusCode`	`clearStickyFault_BridgeBrownout(double timeoutSeconds)`	Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
`StatusCode`	`clearStickyFault_DeviceTemp()`	Clear sticky fault: Device temperature exceeded limit
`StatusCode`	`clearStickyFault_DeviceTemp(double timeoutSeconds)`	Clear sticky fault: Device temperature exceeded limit
`StatusCode`	`clearStickyFault_ForwardHardLimit()`	Clear sticky fault: Forward limit switch has been asserted.
`StatusCode`	`clearStickyFault_ForwardHardLimit(double timeoutSeconds)`	Clear sticky fault: Forward limit switch has been asserted.
`StatusCode`	`clearStickyFault_ForwardSoftLimit()`	Clear sticky fault: Forward soft limit has been asserted.
`StatusCode`	`clearStickyFault_ForwardSoftLimit(double timeoutSeconds)`	Clear sticky fault: Forward soft limit has been asserted.
`StatusCode`	`clearStickyFault_FusedSensorOutOfSync()`	Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
`StatusCode`	`clearStickyFault_FusedSensorOutOfSync(double timeoutSeconds)`	Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
`StatusCode`	`clearStickyFault_Hardware()`	Clear sticky fault: Hardware fault occurred
`StatusCode`	`clearStickyFault_Hardware(double timeoutSeconds)`	Clear sticky fault: Hardware fault occurred
`StatusCode`	`clearStickyFault_MissingDifferentialFX()`	Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
`StatusCode`	`clearStickyFault_MissingDifferentialFX(double timeoutSeconds)`	Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
`StatusCode`	`clearStickyFault_OverSupplyV()`	Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
`StatusCode`	`clearStickyFault_OverSupplyV(double timeoutSeconds)`	Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
`StatusCode`	`clearStickyFault_ProcTemp()`	Clear sticky fault: Processor temperature exceeded limit
`StatusCode`	`clearStickyFault_ProcTemp(double timeoutSeconds)`	Clear sticky fault: Processor temperature exceeded limit
`StatusCode`	`clearStickyFault_RemoteSensorDataInvalid()`	Clear sticky fault: The remote sensor's data is no longer trusted.
`StatusCode`	`clearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds)`	Clear sticky fault: The remote sensor's data is no longer trusted.
`StatusCode`	`clearStickyFault_RemoteSensorPosOverflow()`	Clear sticky fault: The remote sensor position has overflowed.
`StatusCode`	`clearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds)`	Clear sticky fault: The remote sensor position has overflowed.
`StatusCode`	`clearStickyFault_RemoteSensorReset()`	Clear sticky fault: The remote sensor has reset.
`StatusCode`	`clearStickyFault_RemoteSensorReset(double timeoutSeconds)`	Clear sticky fault: The remote sensor has reset.
`StatusCode`	`clearStickyFault_ReverseHardLimit()`	Clear sticky fault: Reverse limit switch has been asserted.
`StatusCode`	`clearStickyFault_ReverseHardLimit(double timeoutSeconds)`	Clear sticky fault: Reverse limit switch has been asserted.
`StatusCode`	`clearStickyFault_ReverseSoftLimit()`	Clear sticky fault: Reverse soft limit has been asserted.
`StatusCode`	`clearStickyFault_ReverseSoftLimit(double timeoutSeconds)`	Clear sticky fault: Reverse soft limit has been asserted.
`StatusCode`	`clearStickyFault_StatorCurrLimit()`	Clear sticky fault: Stator current limit occured.
`StatusCode`	`clearStickyFault_StatorCurrLimit(double timeoutSeconds)`	Clear sticky fault: Stator current limit occured.
`StatusCode`	`clearStickyFault_SupplyCurrLimit()`	Clear sticky fault: Supply current limit occured.
`StatusCode`	`clearStickyFault_SupplyCurrLimit(double timeoutSeconds)`	Clear sticky fault: Supply current limit occured.
`StatusCode`	`clearStickyFault_Undervoltage()`	Clear sticky fault: Device supply voltage dropped to near brownout levels
`StatusCode`	`clearStickyFault_Undervoltage(double timeoutSeconds)`	Clear sticky fault: Device supply voltage dropped to near brownout levels
`StatusCode`	`clearStickyFault_UnstableSupplyV()`	Clear sticky fault: Supply Voltage is unstable.
`StatusCode`	`clearStickyFault_UnstableSupplyV(double timeoutSeconds)`	Clear sticky fault: Supply Voltage is unstable.
`StatusCode`	`clearStickyFaults()`	Clear the sticky faults in the device.
`StatusCode`	`clearStickyFaults(double timeoutSeconds)`	Clear the sticky faults in the device.
`StatusSignal<Double>`	`getAcceleration()`	Acceleration of the device in mechanism rotations per second².
`StatusSignal<Double>`	`getAncillaryDeviceTemp()`	Temperature of device from second sensor
`StatusSignal<AppliedRotorPolarityValue>`	`getAppliedRotorPolarity()`	The applied rotor polarity.
`StatusSignal<BridgeOutputValue>`	`getBridgeOutput()`	The applied output of the bridge.
`StatusSignal<Double>`	`getClosedLoopDerivativeOutput()`	Closed loop derivative component
`StatusSignal<Double>`	`getClosedLoopError()`	The difference between target reference and current measurement
`StatusSignal<Double>`	`getClosedLoopFeedForward()`	Feedforward passed by the user
`StatusSignal<Double>`	`getClosedLoopIntegratedOutput()`	Closed loop integrated component
`StatusSignal<Double>`	`getClosedLoopOutput()`	Closed loop total output
`StatusSignal<Double>`	`getClosedLoopProportionalOutput()`	Closed loop proportional component
`StatusSignal<Double>`	`getClosedLoopReference()`	Value that the closed loop is targeting
`StatusSignal<Double>`	`getClosedLoopReferenceSlope()`	Derivative of the target that the closed loop is targeting
`StatusSignal<Integer>`	`getClosedLoopSlot()`	Closed loop slot in use
`TalonFXConfigurator`	`getConfigurator()`	Gets the configurator to use with this device's configs
`StatusSignal<ControlModeValue>`	`getControlMode()`	The active control mode of the motor controller Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object.
`StatusSignal<DeviceEnableValue>`	`getDeviceEnable()`	Indicates if device is actuator enabled.
`StatusSignal<Double>`	`getDeviceTemp()`	Temperature of device
`StatusSignal<Double>`	`getDifferentialAveragePosition()`	Average component of the differential position of device.
`StatusSignal<Double>`	`getDifferentialAverageVelocity()`	Average component of the differential velocity of device.
`StatusSignal<Double>`	`getDifferentialClosedLoopDerivativeOutput()`	Differential closed loop derivative component
`StatusSignal<Double>`	`getDifferentialClosedLoopError()`	The difference between target differential reference and current measurement
`StatusSignal<Double>`	`getDifferentialClosedLoopFeedForward()`	Differential Feedforward passed by the user
`StatusSignal<Double>`	`getDifferentialClosedLoopIntegratedOutput()`	Differential closed loop integrated component
`StatusSignal<Double>`	`getDifferentialClosedLoopOutput()`	Differential closed loop total output
`StatusSignal<Double>`	`getDifferentialClosedLoopProportionalOutput()`	Differential closed loop proportional component
`StatusSignal<Double>`	`getDifferentialClosedLoopReference()`	Value that the differential closed loop is targeting
`StatusSignal<Double>`	`getDifferentialClosedLoopReferenceSlope()`	Derivative of the target that the differential closed loop is targeting
`StatusSignal<Integer>`	`getDifferentialClosedLoopSlot()`	Differential Closed loop slot in use
`StatusSignal<DifferentialControlModeValue>`	`getDifferentialControlMode()`	The active control mode of the differential controller Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object.
`StatusSignal<Double>`	`getDifferentialDifferencePosition()`	Difference component of the differential position of device.
`StatusSignal<Double>`	`getDifferentialDifferenceVelocity()`	Difference component of the differential velocity of device.
`StatusSignal<Double>`	`getDifferentialOutput()`	The calculated motor output for differential followers.
`StatusSignal<Double>`	`getDutyCycle()`	The applied motor duty cycle.
`StatusSignal<Boolean>`	`getFault_BootDuringEnable()`	Device boot while detecting the enable signal Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getFault_BridgeBrownout()`	Bridge was disabled most likely due to supply voltage dropping too low.
`StatusSignal<Boolean>`	`getFault_DeviceTemp()`	Device temperature exceeded limit Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getFault_ForwardHardLimit()`	Forward limit switch has been asserted.
`StatusSignal<Boolean>`	`getFault_ForwardSoftLimit()`	Forward soft limit has been asserted.
`StatusSignal<Boolean>`	`getFault_FusedSensorOutOfSync()`	The remote sensor used for fusion has fallen out of sync to the local sensor.
`StatusSignal<Boolean>`	`getFault_Hardware()`	Hardware fault occurred Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getFault_MissingDifferentialFX()`	The remote Talon FX used for differential control is not present on CAN Bus.
`StatusSignal<Boolean>`	`getFault_OverSupplyV()`	Supply Voltage has exceeded the maximum voltage rating of device.
`StatusSignal<Boolean>`	`getFault_ProcTemp()`	Processor temperature exceeded limit Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getFault_RemoteSensorDataInvalid()`	The remote sensor's data is no longer trusted.
`StatusSignal<Boolean>`	`getFault_RemoteSensorPosOverflow()`	The remote sensor position has overflowed.
`StatusSignal<Boolean>`	`getFault_RemoteSensorReset()`	The remote sensor has reset.
`StatusSignal<Boolean>`	`getFault_ReverseHardLimit()`	Reverse limit switch has been asserted.
`StatusSignal<Boolean>`	`getFault_ReverseSoftLimit()`	Reverse soft limit has been asserted.
`StatusSignal<Boolean>`	`getFault_StaticBrakeDisabled()`	Static brake was momentarily disabled due to excessive braking current while disabled.
`StatusSignal<Boolean>`	`getFault_StatorCurrLimit()`	Stator current limit occured.
`StatusSignal<Boolean>`	`getFault_SupplyCurrLimit()`	Supply current limit occured.
`StatusSignal<Boolean>`	`getFault_Undervoltage()`	Device supply voltage dropped to near brownout levels Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getFault_UnlicensedFeatureInUse()`	An unlicensed feature is in use, device may not behave as expected.
`StatusSignal<Boolean>`	`getFault_UnstableSupplyV()`	Supply Voltage is unstable.
`StatusSignal<Boolean>`	`getFault_UsingFusedCANcoderWhileUnlicensed()`	Using Fused CANcoder feature while unlicensed.
`StatusSignal<Integer>`	`getFaultField()`	Integer representing all faults
`StatusSignal<ForwardLimitValue>`	`getForwardLimit()`	Forward Limit Pin.
`StatusSignal<Boolean>`	`getIsProLicensed()`	Whether the device is Phoenix Pro licensed.
`StatusSignal<MotionMagicIsRunningValue>`	`getMotionMagicIsRunning()`	Check if Motion Magic® is running.
`StatusSignal<MotorOutputStatusValue>`	`getMotorOutputStatus()`	Assess the status of the motor output with respect to load and supply.
`StatusSignal<MotorTypeValue>`	`getMotorType()`	The type of motor attached to the Talon FX
`StatusSignal<Double>`	`getMotorVoltage()`	The applied (output) motor voltage.
`StatusSignal<Double>`	`getPosition()`	Position of the device in mechanism rotations.
`StatusSignal<Double>`	`getProcessorTemp()`	Temperature of the processor
`StatusSignal<ReverseLimitValue>`	`getReverseLimit()`	Reverse Limit Pin.
`StatusSignal<Double>`	`getRotorPosition()`	Position of the motor rotor.
`StatusSignal<Double>`	`getRotorVelocity()`	Velocity of the motor rotor.
`TalonFXSimState`	`getSimState()`	Get the simulation state for this device.
`StatusSignal<Double>`	`getStatorCurrent()`	Current corresponding to the stator windings.
`StatusSignal<Boolean>`	`getStickyFault_BootDuringEnable()`	Device boot while detecting the enable signal Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getStickyFault_BridgeBrownout()`	Bridge was disabled most likely due to supply voltage dropping too low.
`StatusSignal<Boolean>`	`getStickyFault_DeviceTemp()`	Device temperature exceeded limit Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getStickyFault_ForwardHardLimit()`	Forward limit switch has been asserted.
`StatusSignal<Boolean>`	`getStickyFault_ForwardSoftLimit()`	Forward soft limit has been asserted.
`StatusSignal<Boolean>`	`getStickyFault_FusedSensorOutOfSync()`	The remote sensor used for fusion has fallen out of sync to the local sensor.
`StatusSignal<Boolean>`	`getStickyFault_Hardware()`	Hardware fault occurred Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getStickyFault_MissingDifferentialFX()`	The remote Talon FX used for differential control is not present on CAN Bus.
`StatusSignal<Boolean>`	`getStickyFault_OverSupplyV()`	Supply Voltage has exceeded the maximum voltage rating of device.
`StatusSignal<Boolean>`	`getStickyFault_ProcTemp()`	Processor temperature exceeded limit Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getStickyFault_RemoteSensorDataInvalid()`	The remote sensor's data is no longer trusted.
`StatusSignal<Boolean>`	`getStickyFault_RemoteSensorPosOverflow()`	The remote sensor position has overflowed.
`StatusSignal<Boolean>`	`getStickyFault_RemoteSensorReset()`	The remote sensor has reset.
`StatusSignal<Boolean>`	`getStickyFault_ReverseHardLimit()`	Reverse limit switch has been asserted.
`StatusSignal<Boolean>`	`getStickyFault_ReverseSoftLimit()`	Reverse soft limit has been asserted.
`StatusSignal<Boolean>`	`getStickyFault_StaticBrakeDisabled()`	Static brake was momentarily disabled due to excessive braking current while disabled.
`StatusSignal<Boolean>`	`getStickyFault_StatorCurrLimit()`	Stator current limit occured.
`StatusSignal<Boolean>`	`getStickyFault_SupplyCurrLimit()`	Supply current limit occured.
`StatusSignal<Boolean>`	`getStickyFault_Undervoltage()`	Device supply voltage dropped to near brownout levels Default Value: False Default Rates: CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object.
`StatusSignal<Boolean>`	`getStickyFault_UnlicensedFeatureInUse()`	An unlicensed feature is in use, device may not behave as expected.
`StatusSignal<Boolean>`	`getStickyFault_UnstableSupplyV()`	Supply Voltage is unstable.
`StatusSignal<Boolean>`	`getStickyFault_UsingFusedCANcoderWhileUnlicensed()`	Using Fused CANcoder feature while unlicensed.
`StatusSignal<Integer>`	`getStickyFaultField()`	Integer representing all sticky faults
`StatusSignal<Double>`	`getSupplyCurrent()`	Measured supply side current Minimum Value: -327.68 Maximum Value: 327.66 Default Value: 0 Units: A Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object.
`StatusSignal<Double>`	`getSupplyVoltage()`	Measured supply voltage to the TalonFX.
`StatusSignal<Double>`	`getTorqueCurrent()`	Current corresponding to the torque output by the motor.
`StatusSignal<Double>`	`getVelocity()`	Velocity of the device in mechanism rotations per second.
`StatusSignal<Integer>`	`getVersion()`	Full Version.
`StatusSignal<Integer>`	`getVersionBugfix()`	App Bugfix Version number.
`StatusSignal<Integer>`	`getVersionBuild()`	App Build Version number.
`StatusSignal<Integer>`	`getVersionMajor()`	App Major Version number.
`StatusSignal<Integer>`	`getVersionMinor()`	App Minor Version number.
`StatusCode`	`setControl(CoastOut request)`	Request coast neutral output of actuator.
`StatusCode`	`setControl(Diff_DutyCycleOut_Position request)`	Differential control with duty cycle average target and position difference target.
`StatusCode`	`setControl(Diff_DutyCycleOut_Velocity request)`	Differential control with duty cycle average target and velocity difference target.
`StatusCode`	`setControl(Diff_MotionMagicDutyCycle_Position request)`	Differential control with Motion Magic® average target and position difference target using dutycycle control.
`StatusCode`	`setControl(Diff_MotionMagicDutyCycle_Velocity request)`	Differential control with Motion Magic® average target and velocity difference target using dutycycle control.
`StatusCode`	`setControl(Diff_MotionMagicTorqueCurrentFOC_Position request)`	Differential control with Motion Magic® average target and position difference target using torque current control.
`StatusCode`	`setControl(Diff_MotionMagicTorqueCurrentFOC_Velocity request)`	Differential control with Motion Magic® average target and velocity difference target using torque current control.
`StatusCode`	`setControl(Diff_MotionMagicVoltage_Position request)`	Differential control with Motion Magic® average target and position difference target using voltage control.
`StatusCode`	`setControl(Diff_MotionMagicVoltage_Velocity request)`	Differential control with Motion Magic® average target and velocity difference target using voltage control.
`StatusCode`	`setControl(Diff_PositionDutyCycle_Position request)`	Differential control with position average target and position difference target using dutycycle control.
`StatusCode`	`setControl(Diff_PositionDutyCycle_Velocity request)`	Differential control with position average target and velocity difference target using dutycycle control.
`StatusCode`	`setControl(Diff_PositionTorqueCurrentFOC_Position request)`	Differential control with position average target and position difference target using torque current control.
`StatusCode`	`setControl(Diff_PositionTorqueCurrentFOC_Velocity request)`	Differential control with position average target and velocity difference target using torque current control.
`StatusCode`	`setControl(Diff_PositionVoltage_Position request)`	Differential control with position average target and position difference target using voltage control.
`StatusCode`	`setControl(Diff_PositionVoltage_Velocity request)`	Differential control with position average target and velocity difference target using voltage control.
`StatusCode`	`setControl(Diff_TorqueCurrentFOC_Position request)`	Differential control with torque current average target and position difference target.
`StatusCode`	`setControl(Diff_TorqueCurrentFOC_Velocity request)`	Differential control with torque current average target and velocity difference target.
`StatusCode`	`setControl(Diff_VelocityDutyCycle_Position request)`	Differential control with velocity average target and position difference target using dutycycle control.
`StatusCode`	`setControl(Diff_VelocityDutyCycle_Velocity request)`	Differential control with velocity average target and velocity difference target using dutycycle control.
`StatusCode`	`setControl(Diff_VelocityTorqueCurrentFOC_Position request)`	Differential control with velocity average target and position difference target using torque current control.
`StatusCode`	`setControl(Diff_VelocityTorqueCurrentFOC_Velocity request)`	Differential control with velocity average target and velocity difference target using torque current control.
`StatusCode`	`setControl(Diff_VelocityVoltage_Position request)`	Differential control with velocity average target and position difference target using voltage control.
`StatusCode`	`setControl(Diff_VelocityVoltage_Velocity request)`	Differential control with velocity average target and velocity difference target using voltage control.
`StatusCode`	`setControl(Diff_VoltageOut_Position request)`	Differential control with voltage average target and position difference target.
`StatusCode`	`setControl(Diff_VoltageOut_Velocity request)`	Differential control with voltage average target and velocity difference target.
`StatusCode`	`setControl(ControlRequest request)`	Control motor with generic control request object.
`StatusCode`	`setControl(DifferentialDutyCycle request)`	Request a specified motor duty cycle with a differential position closed-loop.
`StatusCode`	`setControl(DifferentialFollower request)`	Follow the differential motor output of another Talon.
`StatusCode`	`setControl(DifferentialMotionMagicDutyCycle request)`	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
`StatusCode`	`setControl(DifferentialMotionMagicVoltage request)`	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
`StatusCode`	`setControl(DifferentialPositionDutyCycle request)`	Request PID to target position with a differential position setpoint.
`StatusCode`	`setControl(DifferentialPositionVoltage request)`	Request PID to target position with a differential position setpoint
`StatusCode`	`setControl(DifferentialStrictFollower request)`	Follow the differential motor output of another Talon while ignoring the master's invert setting.
`StatusCode`	`setControl(DifferentialVelocityDutyCycle request)`	Request PID to target velocity with a differential position setpoint.
`StatusCode`	`setControl(DifferentialVelocityVoltage request)`	Request PID to target velocity with a differential position setpoint.
`StatusCode`	`setControl(DifferentialVoltage request)`	Request a specified voltage with a differential position closed-loop.
`StatusCode`	`setControl(DutyCycleOut request)`	Request a specified motor duty cycle.
`StatusCode`	`setControl(DynamicMotionMagicDutyCycle request)`	Requests Motion Magic® to target a final position using a motion profile.
`StatusCode`	`setControl(DynamicMotionMagicTorqueCurrentFOC request)`	Requests Motion Magic® to target a final position using a motion profile.
`StatusCode`	`setControl(DynamicMotionMagicVoltage request)`	Requests Motion Magic® to target a final position using a motion profile.
`StatusCode`	`setControl(Follower request)`	Follow the motor output of another Talon.
`StatusCode`	`setControl(MotionMagicDutyCycle request)`	Requests Motion Magic® to target a final position using a motion profile.
`StatusCode`	`setControl(MotionMagicExpoDutyCycle request)`	Requests Motion Magic® to target a final position using an exponential motion profile.
`StatusCode`	`setControl(MotionMagicExpoTorqueCurrentFOC request)`	Requests Motion Magic® to target a final position using an exponential motion profile.
`StatusCode`	`setControl(MotionMagicExpoVoltage request)`	Requests Motion Magic® to target a final position using an exponential motion profile.
`StatusCode`	`setControl(MotionMagicTorqueCurrentFOC request)`	Requests Motion Magic® to target a final position using a motion profile.
`StatusCode`	`setControl(MotionMagicVelocityDutyCycle request)`	Requests Motion Magic® to target a final velocity using a motion profile.
`StatusCode`	`setControl(MotionMagicVelocityTorqueCurrentFOC request)`	Requests Motion Magic® to target a final velocity using a motion profile.
`StatusCode`	`setControl(MotionMagicVelocityVoltage request)`	Requests Motion Magic® to target a final velocity using a motion profile.
`StatusCode`	`setControl(MotionMagicVoltage request)`	Requests Motion Magic® to target a final position using a motion profile.
`StatusCode`	`setControl(MusicTone request)`	Plays a single tone at the user specified frequency.
`StatusCode`	`setControl(NeutralOut request)`	Request neutral output of actuator.
`StatusCode`	`setControl(PositionDutyCycle request)`	Request PID to target position with duty cycle feedforward.
`StatusCode`	`setControl(PositionTorqueCurrentFOC request)`	Request PID to target position with torque current feedforward.
`StatusCode`	`setControl(PositionVoltage request)`	Request PID to target position with voltage feedforward
`StatusCode`	`setControl(StaticBrake request)`	Applies full neutral-brake by shorting motor leads together.
`StatusCode`	`setControl(StrictFollower request)`	Follow the motor output of another Talon while ignoring the master's invert setting.
`StatusCode`	`setControl(TorqueCurrentFOC request)`	Request a specified motor current (field oriented control).
`StatusCode`	`setControl(VelocityDutyCycle request)`	Request PID to target velocity with duty cycle feedforward.
`StatusCode`	`setControl(VelocityTorqueCurrentFOC request)`	Request PID to target velocity with torque current feedforward.
`StatusCode`	`setControl(VelocityVoltage request)`	Request PID to target velocity with voltage feedforward.
`StatusCode`	`setControl(VoltageOut request)`	Request a specified voltage.
`StatusCode`	`setPosition(double newValue)`	Sets the mechanism position of the device in mechanism rotations.
`StatusCode`	`setPosition(double newValue, double timeoutSeconds)`	Sets the mechanism position of the device in mechanism rotations.

Methods inherited from class com.ctre.phoenix6.hardware.ParentDevice

getAppliedControl, getDeviceHash, getDeviceID, getNetwork, getResetOccurredChecker, hasResetOccurred, lookupStatusSignal, lookupStatusSignal, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, setControlPrivate

Methods inherited from class java.lang.Object

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

Constructor Details
- CoreTalonFX
  
  public CoreTalonFX(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.
- CoreTalonFX
  
  public CoreTalonFX(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
- getConfigurator
  
  public TalonFXConfigurator getConfigurator()
  
  Gets the configurator to use with this device's configs
  
  Returns:
  
  Configurator for this object
- getSimState
  
  public TalonFXSimState getSimState()
  
  Get the simulation state for this device.
  This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.
  
  Returns:
  
  Simulation state
- getVersionMajor
  
  public StatusSignal<Integer> getVersionMajor()
  App Major Version number.
  
  Minimum Value: 0
  Maximum Value: 255
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  VersionMajor Status Signal Object
- getVersionMinor
  
  public StatusSignal<Integer> getVersionMinor()
  App Minor Version number.
  
  Minimum Value: 0
  Maximum Value: 255
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  VersionMinor Status Signal Object
- getVersionBugfix
  
  public StatusSignal<Integer> getVersionBugfix()
  App Bugfix Version number.
  
  Minimum Value: 0
  Maximum Value: 255
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  VersionBugfix Status Signal Object
- getVersionBuild
  
  public StatusSignal<Integer> getVersionBuild()
  App Build Version number.
  
  Minimum Value: 0
  Maximum Value: 255
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  VersionBuild Status Signal Object
- getVersion
  
  public StatusSignal<Integer> getVersion()
  Full Version. The format is a four byte value.
  Full Version of firmware in device. The format is a four byte value.
  
  Minimum Value: 0
  Maximum Value: 4294967295
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Version Status Signal Object
- getFaultField
  
  public StatusSignal<Integer> 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.
  
  Minimum Value: 0
  Maximum Value: 16777215
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  FaultField Status Signal Object
- getStickyFaultField
  
  public StatusSignal<Integer> 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.
  
  Minimum Value: 0
  Maximum Value: 16777215
  Default Value: 0
  Units:
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFaultField Status Signal Object
- getMotorVoltage
  
  public StatusSignal<Double> getMotorVoltage()
  The applied (output) motor voltage.
  
  Minimum Value: -40.96
  Maximum Value: 40.95
  Default Value: 0
  Units: V
  Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  MotorVoltage Status Signal Object
- getForwardLimit
  
  public StatusSignal<ForwardLimitValue> getForwardLimit()
  Forward Limit Pin. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ForwardLimit Status Signal Object
- getReverseLimit
  
  public StatusSignal<ReverseLimitValue> getReverseLimit()
  Reverse Limit Pin. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ReverseLimit Status Signal Object
- getAppliedRotorPolarity
  
  public StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity()
  The applied rotor polarity. This typically is determined by the Inverted config, but can be overridden if using Follower features. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  AppliedRotorPolarity Status Signal Object
- getDutyCycle
  
  public StatusSignal<Double> getDutyCycle()
  The applied motor duty cycle.
  
  Minimum Value: -2.0
  Maximum Value: 1.9990234375
  Default Value: 0
  Units: fractional
  Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DutyCycle Status Signal Object
- getTorqueCurrent
  
  public StatusSignal<Double> 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
  
  Minimum Value: -327.68
  Maximum Value: 327.67
  Default Value: 0
  Units: A
  Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  TorqueCurrent Status Signal Object
- getStatorCurrent
  
  public StatusSignal<Double> 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.
  
  Minimum Value: -327.68
  Maximum Value: 327.66
  Default Value: 0
  Units: A
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StatorCurrent Status Signal Object
- getSupplyCurrent
  
  public StatusSignal<Double> getSupplyCurrent()
  Measured supply side current
  
  Minimum Value: -327.68
  Maximum Value: 327.66
  Default Value: 0
  Units: A
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  SupplyCurrent Status Signal Object
- getSupplyVoltage
  
  public StatusSignal<Double> getSupplyVoltage()
  Measured supply voltage to the TalonFX.
  
  Minimum Value: 4
  Maximum Value: 29.575
  Default Value: 4
  Units: V
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  SupplyVoltage Status Signal Object
- getDeviceTemp
  
  public StatusSignal<Double> getDeviceTemp()
  Temperature of device
  This is the temperature that the device measures itself to be at. Similar to Processor Temperature.
  
  Minimum Value: 0.0
  Maximum Value: 255.0
  Default Value: 0
  Units: ℃
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DeviceTemp Status Signal Object
- getProcessorTemp
  
  public StatusSignal<Double> getProcessorTemp()
  Temperature of the processor
  This is the temperature that the processor measures itself to be at. Similar to Device Temperature.
  
  Minimum Value: 0.0
  Maximum Value: 255.0
  Default Value: 0
  Units: ℃
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ProcessorTemp Status Signal Object
- getRotorVelocity
  
  public StatusSignal<Double> getRotorVelocity()
  Velocity of the motor rotor. This velocity is not affected by any feedback configs.
  
  Minimum Value: -512.0
  Maximum Value: 511.998046875
  Default Value: 0
  Units: rotations per second
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  RotorVelocity Status Signal Object
- getRotorPosition
  
  public StatusSignal<Double> getRotorPosition()
  Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.
  
  Minimum Value: -16384.0
  Maximum Value: 16383.999755859375
  Default Value: 0
  Units: rotations
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  RotorPosition Status Signal Object
- getVelocity
  
  public StatusSignal<Double> 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.
  
  Minimum Value: -512.0
  Maximum Value: 511.998046875
  Default Value: 0
  Units: rotations per second
  Default Rates:
  
  CAN 2.0: 50.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Velocity Status Signal Object
- getPosition
  
  public StatusSignal<Double> 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, as well as calls to setPosition.
  
  Minimum Value: -16384.0
  Maximum Value: 16383.999755859375
  Default Value: 0
  Units: rotations
  Default Rates:
  
  CAN 2.0: 50.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Position Status Signal Object
- getAcceleration
  
  public StatusSignal<Double> getAcceleration()
  Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
  
  Minimum Value: -2048.0
  Maximum Value: 2047.75
  Default Value: 0
  Units: rotations per second²
  Default Rates:
  
  CAN 2.0: 50.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Acceleration Status Signal Object
- getControlMode
  
  public StatusSignal<ControlModeValue> getControlMode()
  The active control mode of the motor controller Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ControlMode Status Signal Object
- getMotionMagicIsRunning
  
  public StatusSignal<MotionMagicIsRunningValue> 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:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  MotionMagicIsRunning Status Signal Object
- getDeviceEnable
  
  public StatusSignal<DeviceEnableValue> getDeviceEnable()
  Indicates if device is actuator enabled. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DeviceEnable Status Signal Object
- getClosedLoopSlot
  
  public StatusSignal<Integer> getClosedLoopSlot()
  Closed loop slot in use
  This is the slot that the closed loop PID is using.
  
  Minimum Value: 0
  Maximum Value: 2
  Default Value: 0
  Units:
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopSlot Status Signal Object
- getDifferentialControlMode
  
  public StatusSignal<DifferentialControlModeValue> getDifferentialControlMode()
  The active control mode of the differential controller Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialControlMode Status Signal Object
- getDifferentialAverageVelocity
  
  public StatusSignal<Double> getDifferentialAverageVelocity()
  Average component of the differential velocity of device.
  
  Minimum Value: -512.0
  Maximum Value: 511.998046875
  Default Value: 0
  Units: rotations per second
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialAverageVelocity Status Signal Object
- getDifferentialAveragePosition
  
  public StatusSignal<Double> getDifferentialAveragePosition()
  Average component of the differential position of device.
  
  Minimum Value: -16384.0
  Maximum Value: 16383.999755859375
  Default Value: 0
  Units: rotations
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialAveragePosition Status Signal Object
- getDifferentialDifferenceVelocity
  
  public StatusSignal<Double> getDifferentialDifferenceVelocity()
  Difference component of the differential velocity of device.
  
  Minimum Value: -512.0
  Maximum Value: 511.998046875
  Default Value: 0
  Units: rotations per second
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialDifferenceVelocity Status Signal Object
- getDifferentialDifferencePosition
  
  public StatusSignal<Double> getDifferentialDifferencePosition()
  Difference component of the differential position of device.
  
  Minimum Value: -16384.0
  Maximum Value: 16383.999755859375
  Default Value: 0
  Units: rotations
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialDifferencePosition Status Signal Object
- getDifferentialClosedLoopSlot
  
  public StatusSignal<Integer> getDifferentialClosedLoopSlot()
  Differential Closed loop slot in use
  This is the slot that the closed loop differential PID is using.
  
  Minimum Value: 0
  Maximum Value: 2
  Default Value: 0
  Units:
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopSlot Status Signal Object
- getBridgeOutput
  
  public StatusSignal<BridgeOutputValue> getBridgeOutput()
  The applied output of the bridge. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  BridgeOutput Status Signal Object
- getIsProLicensed
  
  public StatusSignal<Boolean> getIsProLicensed()
  Whether the device is Phoenix Pro licensed.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  IsProLicensed Status Signal Object
- getAncillaryDeviceTemp
  
  public StatusSignal<Double> getAncillaryDeviceTemp()
  Temperature of device from second sensor
  Newer versions of Talon FX have multiple temperature measurement methods.
  
  Minimum Value: 0.0
  Maximum Value: 255.0
  Default Value: 0
  Units: ℃
  Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  AncillaryDeviceTemp Status Signal Object
- getMotorType
  
  public StatusSignal<MotorTypeValue> getMotorType()
  The type of motor attached to the Talon FX
  This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  MotorType Status Signal Object
- getMotorOutputStatus
  
  public StatusSignal<MotorOutputStatusValue> getMotorOutputStatus()
  Assess the status of the motor output with respect to load and supply.
  This routine can be used to determine the general status of motor commutation. Off means that motor output is disabled. StaticBraking typically means the motor is in neutral-brake. Motoring means motor is loaded in a typical fashion, drawing current from the supply, and successfully turning the rotor in the direction of applied voltage. Discordant Motoring is the same as Motoring, expect the rotor is being backdriven as the motor output is not enough to defeat load forces. RegenBraking means the motor is braking in such a way where motor current is traveling back to the supply (typically a battery). Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  MotorOutputStatus Status Signal Object
- getFault_Hardware
  
  public StatusSignal<Boolean> getFault_Hardware()
  Hardware fault occurred
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_Hardware Status Signal Object
- getStickyFault_Hardware
  
  public StatusSignal<Boolean> getStickyFault_Hardware()
  Hardware fault occurred
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_Hardware Status Signal Object
- getFault_ProcTemp
  
  public StatusSignal<Boolean> getFault_ProcTemp()
  Processor temperature exceeded limit
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_ProcTemp Status Signal Object
- getStickyFault_ProcTemp
  
  public StatusSignal<Boolean> getStickyFault_ProcTemp()
  Processor temperature exceeded limit
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_ProcTemp Status Signal Object
- getFault_DeviceTemp
  
  public StatusSignal<Boolean> getFault_DeviceTemp()
  Device temperature exceeded limit
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_DeviceTemp Status Signal Object
- getStickyFault_DeviceTemp
  
  public StatusSignal<Boolean> getStickyFault_DeviceTemp()
  Device temperature exceeded limit
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_DeviceTemp Status Signal Object
- getFault_Undervoltage
  
  public StatusSignal<Boolean> getFault_Undervoltage()
  Device supply voltage dropped to near brownout levels
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_Undervoltage Status Signal Object
- getStickyFault_Undervoltage
  
  public StatusSignal<Boolean> getStickyFault_Undervoltage()
  Device supply voltage dropped to near brownout levels
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_Undervoltage Status Signal Object
- getFault_BootDuringEnable
  
  public StatusSignal<Boolean> getFault_BootDuringEnable()
  Device boot while detecting the enable signal
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_BootDuringEnable Status Signal Object
- getStickyFault_BootDuringEnable
  
  public StatusSignal<Boolean> getStickyFault_BootDuringEnable()
  Device boot while detecting the enable signal
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_BootDuringEnable Status Signal Object
- getFault_UnlicensedFeatureInUse
  
  public StatusSignal<Boolean> getFault_UnlicensedFeatureInUse()
  An unlicensed feature is in use, device may not behave as expected.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_UnlicensedFeatureInUse Status Signal Object
- getStickyFault_UnlicensedFeatureInUse
  
  public StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse()
  An unlicensed feature is in use, device may not behave as expected.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_UnlicensedFeatureInUse Status Signal Object
- getFault_BridgeBrownout
  
  public StatusSignal<Boolean> getFault_BridgeBrownout()
  Bridge was disabled most likely due to supply voltage dropping too low.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_BridgeBrownout Status Signal Object
- getStickyFault_BridgeBrownout
  
  public StatusSignal<Boolean> getStickyFault_BridgeBrownout()
  Bridge was disabled most likely due to supply voltage dropping too low.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_BridgeBrownout Status Signal Object
- getFault_RemoteSensorReset
  
  public StatusSignal<Boolean> getFault_RemoteSensorReset()
  The remote sensor has reset.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_RemoteSensorReset Status Signal Object
- getStickyFault_RemoteSensorReset
  
  public StatusSignal<Boolean> getStickyFault_RemoteSensorReset()
  The remote sensor has reset.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_RemoteSensorReset Status Signal Object
- getFault_MissingDifferentialFX
  
  public StatusSignal<Boolean> getFault_MissingDifferentialFX()
  The remote Talon FX used for differential control is not present on CAN Bus.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_MissingDifferentialFX Status Signal Object
- getStickyFault_MissingDifferentialFX
  
  public StatusSignal<Boolean> getStickyFault_MissingDifferentialFX()
  The remote Talon FX used for differential control is not present on CAN Bus.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_MissingDifferentialFX Status Signal Object
- getFault_RemoteSensorPosOverflow
  
  public StatusSignal<Boolean> 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.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_RemoteSensorPosOverflow Status Signal Object
- getStickyFault_RemoteSensorPosOverflow
  
  public StatusSignal<Boolean> 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.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_RemoteSensorPosOverflow Status Signal Object
- getFault_OverSupplyV
  
  public StatusSignal<Boolean> getFault_OverSupplyV()
  Supply Voltage has exceeded the maximum voltage rating of device.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_OverSupplyV Status Signal Object
- getStickyFault_OverSupplyV
  
  public StatusSignal<Boolean> getStickyFault_OverSupplyV()
  Supply Voltage has exceeded the maximum voltage rating of device.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_OverSupplyV Status Signal Object
- getFault_UnstableSupplyV
  
  public StatusSignal<Boolean> getFault_UnstableSupplyV()
  Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_UnstableSupplyV Status Signal Object
- getStickyFault_UnstableSupplyV
  
  public StatusSignal<Boolean> getStickyFault_UnstableSupplyV()
  Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_UnstableSupplyV Status Signal Object
- getFault_ReverseHardLimit
  
  public StatusSignal<Boolean> getFault_ReverseHardLimit()
  Reverse limit switch has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_ReverseHardLimit Status Signal Object
- getStickyFault_ReverseHardLimit
  
  public StatusSignal<Boolean> getStickyFault_ReverseHardLimit()
  Reverse limit switch has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_ReverseHardLimit Status Signal Object
- getFault_ForwardHardLimit
  
  public StatusSignal<Boolean> getFault_ForwardHardLimit()
  Forward limit switch has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_ForwardHardLimit Status Signal Object
- getStickyFault_ForwardHardLimit
  
  public StatusSignal<Boolean> getStickyFault_ForwardHardLimit()
  Forward limit switch has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_ForwardHardLimit Status Signal Object
- getFault_ReverseSoftLimit
  
  public StatusSignal<Boolean> getFault_ReverseSoftLimit()
  Reverse soft limit has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_ReverseSoftLimit Status Signal Object
- getStickyFault_ReverseSoftLimit
  
  public StatusSignal<Boolean> getStickyFault_ReverseSoftLimit()
  Reverse soft limit has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_ReverseSoftLimit Status Signal Object
- getFault_ForwardSoftLimit
  
  public StatusSignal<Boolean> getFault_ForwardSoftLimit()
  Forward soft limit has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_ForwardSoftLimit Status Signal Object
- getStickyFault_ForwardSoftLimit
  
  public StatusSignal<Boolean> getStickyFault_ForwardSoftLimit()
  Forward soft limit has been asserted. Output is set to neutral.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_ForwardSoftLimit Status Signal Object
- getFault_RemoteSensorDataInvalid
  
  public StatusSignal<Boolean> 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.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_RemoteSensorDataInvalid Status Signal Object
- getStickyFault_RemoteSensorDataInvalid
  
  public StatusSignal<Boolean> 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.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_RemoteSensorDataInvalid Status Signal Object
- getFault_FusedSensorOutOfSync
  
  public StatusSignal<Boolean> 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.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_FusedSensorOutOfSync Status Signal Object
- getStickyFault_FusedSensorOutOfSync
  
  public StatusSignal<Boolean> 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.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_FusedSensorOutOfSync Status Signal Object
- getFault_StatorCurrLimit
  
  public StatusSignal<Boolean> getFault_StatorCurrLimit()
  Stator current limit occured.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_StatorCurrLimit Status Signal Object
- getStickyFault_StatorCurrLimit
  
  public StatusSignal<Boolean> getStickyFault_StatorCurrLimit()
  Stator current limit occured.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_StatorCurrLimit Status Signal Object
- getFault_SupplyCurrLimit
  
  public StatusSignal<Boolean> getFault_SupplyCurrLimit()
  Supply current limit occured.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_SupplyCurrLimit Status Signal Object
- getStickyFault_SupplyCurrLimit
  
  public StatusSignal<Boolean> getStickyFault_SupplyCurrLimit()
  Supply current limit occured.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_SupplyCurrLimit Status Signal Object
- getFault_UsingFusedCANcoderWhileUnlicensed
  
  public StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed()
  Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
- getStickyFault_UsingFusedCANcoderWhileUnlicensed
  
  public StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed()
  Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
- getFault_StaticBrakeDisabled
  
  public StatusSignal<Boolean> getFault_StaticBrakeDisabled()
  Static brake was momentarily disabled due to excessive braking current while disabled.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  Fault_StaticBrakeDisabled Status Signal Object
- getStickyFault_StaticBrakeDisabled
  
  public StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled()
  Static brake was momentarily disabled due to excessive braking current while disabled.
  
  Default Value: False
  Default Rates:
  
  CAN: 4.0 Hz
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  StickyFault_StaticBrakeDisabled Status Signal Object
- getClosedLoopProportionalOutput
  
  public StatusSignal<Double> getClosedLoopProportionalOutput()
  Closed loop proportional component
  The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopProportionalOutput Status Signal object
- getClosedLoopIntegratedOutput
  
  public StatusSignal<Double> getClosedLoopIntegratedOutput()
  Closed loop integrated component
  The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopIntegratedOutput Status Signal object
- getClosedLoopFeedForward
  
  public StatusSignal<Double> getClosedLoopFeedForward()
  Feedforward passed by the user
  This is the general feedforward that the user provides for the closed loop. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopFeedForward Status Signal object
- getClosedLoopDerivativeOutput
  
  public StatusSignal<Double> getClosedLoopDerivativeOutput()
  Closed loop derivative component
  The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopDerivativeOutput Status Signal object
- getClosedLoopOutput
  
  public StatusSignal<Double> getClosedLoopOutput()
  Closed loop total output
  The total output of the closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopOutput Status Signal object
- getClosedLoopReference
  
  public StatusSignal<Double> getClosedLoopReference()
  Value that the closed loop is targeting
  This is the value that the closed loop PID controller targets. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopReference Status Signal object
- getClosedLoopReferenceSlope
  
  public StatusSignal<Double> getClosedLoopReferenceSlope()
  Derivative of the target that the closed loop is targeting
  This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopReferenceSlope Status Signal object
- getClosedLoopError
  
  public StatusSignal<Double> getClosedLoopError()
  The difference between target reference and current measurement
  This is the value that is treated as the error in the PID loop. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  ClosedLoopError Status Signal object
- getDifferentialOutput
  
  public StatusSignal<Double> getDifferentialOutput()
  The calculated motor output for differential followers.
  This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialOutput Status Signal object
- getDifferentialClosedLoopProportionalOutput
  
  public StatusSignal<Double> getDifferentialClosedLoopProportionalOutput()
  Differential closed loop proportional component
  The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopProportionalOutput Status Signal object
- getDifferentialClosedLoopIntegratedOutput
  
  public StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput()
  Differential closed loop integrated component
  The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopIntegratedOutput Status Signal object
- getDifferentialClosedLoopFeedForward
  
  public StatusSignal<Double> getDifferentialClosedLoopFeedForward()
  Differential Feedforward passed by the user
  This is the general feedforward that the user provides for the differential closed loop. Default Rates:
  
  CAN 2.0: 100.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopFeedForward Status Signal object
- getDifferentialClosedLoopDerivativeOutput
  
  public StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput()
  Differential closed loop derivative component
  The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopDerivativeOutput Status Signal object
- getDifferentialClosedLoopOutput
  
  public StatusSignal<Double> getDifferentialClosedLoopOutput()
  Differential closed loop total output
  The total output of the differential closed loop output. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopOutput Status Signal object
- getDifferentialClosedLoopReference
  
  public StatusSignal<Double> getDifferentialClosedLoopReference()
  Value that the differential closed loop is targeting
  This is the value that the differential closed loop PID controller targets. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopReference Status Signal object
- getDifferentialClosedLoopReferenceSlope
  
  public StatusSignal<Double> getDifferentialClosedLoopReferenceSlope()
  Derivative of the target that the differential closed loop is targeting
  This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopReferenceSlope Status Signal object
- getDifferentialClosedLoopError
  
  public StatusSignal<Double> getDifferentialClosedLoopError()
  The difference between target differential reference and current measurement
  This is the value that is treated as the error in the differential PID loop. Default Rates:
  
  CAN 2.0: 4.0 Hz
  CAN FD: 100.0 Hz (TimeSynced with Pro)
  This refreshes and returns a cached StatusSignal object.
  Returns:
  
  DifferentialClosedLoopError Status Signal object
- setControl
  
  public StatusCode setControl(DutyCycleOut request)
  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:
  
  Output: Proportion of supply voltage to apply in fractional units between -1 and +1
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(TorqueCurrentFOC request)
  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:
  
  Output: Amount of motor current in Amperes
  MaxAbsDutyCycle: The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
  Deadband: Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(VoltageOut request)
  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:
  
  Output: Voltage to attempt to drive at
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(PositionDutyCycle request)
  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:
  
  Position: Position to drive toward in rotations.
  Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in fractional units between -1 and +1.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(PositionVoltage request)
  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:
  
  Position: Position to drive toward in rotations.
  Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in volts
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(PositionTorqueCurrentFOC request)
  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:
  
  Position: Position to drive toward in rotations.
  Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
  FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(VelocityDutyCycle request)
  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:
  
  Velocity: Velocity to drive toward in rotations per second.
  Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in fractional units between -1 and +1.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(VelocityVoltage request)
  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:
  
  Velocity: Velocity to drive toward in rotations per second.
  Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in volts
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(VelocityTorqueCurrentFOC request)
  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:
  
  Velocity: Velocity to drive toward in rotations per second.
  Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
  FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicDutyCycle request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  Position: Position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in fractional units between -1 and +1.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicVoltage request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  Position: Position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in volts
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicTorqueCurrentFOC request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  Position: Position to drive toward in rotations.
  FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialDutyCycle request)
  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:
  
  TargetOutput: Proportion of supply voltage to apply in fractional units between -1 and +1
  DifferentialPosition: Differential position to drive towards in rotations
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialVoltage request)
  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:
  
  TargetOutput: Voltage to attempt to drive at
  DifferentialPosition: Differential position to drive towards in rotations
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialPositionDutyCycle request)
  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:
  
  TargetPosition: Average position to drive toward in rotations.
  DifferentialPosition: Differential position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialPositionVoltage request)
  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:
  
  TargetPosition: Average position to drive toward in rotations.
  DifferentialPosition: Differential position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialVelocityDutyCycle request)
  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:
  
  TargetVelocity: Average velocity to drive toward in rotations per second.
  DifferentialPosition: Differential position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialVelocityVoltage request)
  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:
  
  TargetVelocity: Average velocity to drive toward in rotations per second.
  DifferentialPosition: Differential position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialMotionMagicDutyCycle request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  TargetPosition: Average position to drive toward in rotations.
  DifferentialPosition: Differential position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialMotionMagicVoltage request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  TargetPosition: Average position to drive toward in rotations.
  DifferentialPosition: Differential position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Follower request)
  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:
  
  MasterID: Device ID of the master to follow.
  OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(StrictFollower request)
  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:
  
  MasterID: Device ID of the master to follow.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialFollower request)
  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:
  
  MasterID: Device ID of the differential master to follow.
  OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DifferentialStrictFollower request)
  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:
  
  MasterID: Device ID of the differential master to follow.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(NeutralOut request)
  Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration.
  
  NeutralOut Parameters:
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(CoastOut request)
  Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast.
  
  CoastOut Parameters:
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(StaticBrake request)
  Applies full neutral-brake by shorting motor leads together.
  
  StaticBrake Parameters:
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MusicTone request)
  Plays a single tone at the user specified frequency.
  
  MusicTone Parameters:
  
  AudioFrequency: Sound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000Hz. Any nonzero frequency less than 10 Hz will be capped to 10Hz. Any frequency above 20Khz will be capped to 20KHz.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicVelocityDutyCycle request)
  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. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. 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:
  
  Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
  Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in fractional units between -1 and +1.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicVelocityTorqueCurrentFOC request)
  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. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. 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:
  
  Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
  Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicVelocityVoltage request)
  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. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. 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:
  
  Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
  Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in volts
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicExpoDutyCycle request)
  Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a duty cycle feedforward.
  Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. 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.
  
  MotionMagicExpoDutyCycle Parameters:
  
  Position: Position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in fractional units between -1 and +1.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicExpoVoltage request)
  Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a voltage feedforward.
  Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. 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.
  
  MotionMagicExpoVoltage Parameters:
  
  Position: Position to drive toward in rotations.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in volts
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(MotionMagicExpoTorqueCurrentFOC request)
  Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a torque current feedforward.
  Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. 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.
  
  MotionMagicExpoTorqueCurrentFOC Parameters:
  
  Position: Position to drive toward in rotations.
  FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DynamicMotionMagicDutyCycle request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  Position: Position to drive toward in rotations.
  Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation
  Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in fractional units between -1 and +1.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DynamicMotionMagicVoltage request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  Position: Position to drive toward in rotations.
  Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.
  FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  FeedForward: Feedforward to apply in volts
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(DynamicMotionMagicTorqueCurrentFOC request)
  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. This control mode does not use the Expo_kV or Expo_kA configs. 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:
  
  Position: Position to drive toward in rotations.
  Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
  LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_DutyCycleOut_Position request)
  Differential control with duty cycle average target and position difference target.
  
  Diff_DutyCycleOut_Position Parameters:
  
  AverageRequest: Average DutyCycleOut request of the mechanism.
  DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_PositionDutyCycle_Position request)
  Differential control with position average target and position difference target using dutycycle control.
  
  Diff_PositionDutyCycle_Position Parameters:
  
  AverageRequest: Average PositionDutyCycle request of the mechanism.
  DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VelocityDutyCycle_Position request)
  Differential control with velocity average target and position difference target using dutycycle control.
  
  Diff_VelocityDutyCycle_Position Parameters:
  
  AverageRequest: Average VelocityDutyCYcle request of the mechanism.
  DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_MotionMagicDutyCycle_Position request)
  Differential control with Motion Magic® average target and position difference target using dutycycle control.
  
  Diff_MotionMagicDutyCycle_Position Parameters:
  
  AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
  DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_DutyCycleOut_Velocity request)
  Differential control with duty cycle average target and velocity difference target.
  
  Diff_DutyCycleOut_Velocity Parameters:
  
  AverageRequest: Average DutyCycleOut request of the mechanism.
  DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_PositionDutyCycle_Velocity request)
  Differential control with position average target and velocity difference target using dutycycle control.
  
  Diff_PositionDutyCycle_Velocity Parameters:
  
  AverageRequest: Average PositionDutyCycle request of the mechanism.
  DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VelocityDutyCycle_Velocity request)
  Differential control with velocity average target and velocity difference target using dutycycle control.
  
  Diff_VelocityDutyCycle_Velocity Parameters:
  
  AverageRequest: Average VelocityDutyCycle request of the mechanism.
  DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_MotionMagicDutyCycle_Velocity request)
  Differential control with Motion Magic® average target and velocity difference target using dutycycle control.
  
  Diff_MotionMagicDutyCycle_Velocity Parameters:
  
  AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
  DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VoltageOut_Position request)
  Differential control with voltage average target and position difference target.
  
  Diff_VoltageOut_Position Parameters:
  
  AverageRequest: Average VoltageOut request of the mechanism.
  DifferentialRequest: Differential PositionVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_PositionVoltage_Position request)
  Differential control with position average target and position difference target using voltage control.
  
  Diff_PositionVoltage_Position Parameters:
  
  AverageRequest: Average PositionVoltage request of the mechanism.
  DifferentialRequest: Differential PositionVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VelocityVoltage_Position request)
  Differential control with velocity average target and position difference target using voltage control.
  
  Diff_VelocityVoltage_Position Parameters:
  
  AverageRequest: Average VelocityVoltage request of the mechanism.
  DifferentialRequest: Differential PositionVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_MotionMagicVoltage_Position request)
  Differential control with Motion Magic® average target and position difference target using voltage control.
  
  Diff_MotionMagicVoltage_Position Parameters:
  
  AverageRequest: Average MotionMagicVoltage request of the mechanism.
  DifferentialRequest: Differential PositionVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VoltageOut_Velocity request)
  Differential control with voltage average target and velocity difference target.
  
  Diff_VoltageOut_Velocity Parameters:
  
  AverageRequest: Average VoltageOut request of the mechanism.
  DifferentialRequest: Differential VelocityVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_PositionVoltage_Velocity request)
  Differential control with position average target and velocity difference target using voltage control.
  
  Diff_PositionVoltage_Velocity Parameters:
  
  AverageRequest: Average PositionVoltage request of the mechanism.
  DifferentialRequest: Differential VelocityVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VelocityVoltage_Velocity request)
  Differential control with velocity average target and velocity difference target using voltage control.
  
  Diff_VelocityVoltage_Velocity Parameters:
  
  AverageRequest: Average VelocityVoltage request of the mechanism.
  DifferentialRequest: Differential VelocityVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_MotionMagicVoltage_Velocity request)
  Differential control with Motion Magic® average target and velocity difference target using voltage control.
  
  Diff_MotionMagicVoltage_Velocity Parameters:
  
  AverageRequest: Average MotionMagicVoltage request of the mechanism.
  DifferentialRequest: Differential VelocityVoltage request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_TorqueCurrentFOC_Position request)
  Differential control with torque current average target and position difference target.
  
  Diff_TorqueCurrentFOC_Position Parameters:
  
  AverageRequest: Average TorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_PositionTorqueCurrentFOC_Position request)
  Differential control with position average target and position difference target using torque current control.
  
  Diff_PositionTorqueCurrentFOC_Position Parameters:
  
  AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VelocityTorqueCurrentFOC_Position request)
  Differential control with velocity average target and position difference target using torque current control.
  
  Diff_VelocityTorqueCurrentFOC_Position Parameters:
  
  AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_MotionMagicTorqueCurrentFOC_Position request)
  Differential control with Motion Magic® average target and position difference target using torque current control.
  
  Diff_MotionMagicTorqueCurrentFOC_Position Parameters:
  
  AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_TorqueCurrentFOC_Velocity request)
  Differential control with torque current average target and velocity difference target.
  
  Diff_TorqueCurrentFOC_Velocity Parameters:
  
  AverageRequest: Average TorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_PositionTorqueCurrentFOC_Velocity request)
  Differential control with position average target and velocity difference target using torque current control.
  
  Diff_PositionTorqueCurrentFOC_Velocity Parameters:
  
  AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_VelocityTorqueCurrentFOC_Velocity request)
  Differential control with velocity average target and velocity difference target using torque current control.
  
  Diff_VelocityTorqueCurrentFOC_Velocity Parameters:
  
  AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(Diff_MotionMagicTorqueCurrentFOC_Velocity request)
  Differential control with Motion Magic® average target and velocity difference target using torque current control.
  
  Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters:
  
  AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
  DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Code response of the request
- setControl
  
  public StatusCode setControl(ControlRequest request)
  
  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
  
  Parameters:
  
  request - Control object to request of the device
  
  Returns:
  
  Status Code of the request, 0 is OK
- setPosition
  
  public StatusCode setPosition(double newValue, double timeoutSeconds)
  
  Sets the mechanism position of the device in mechanism rotations.
  
  Parameters:
  
  newValue - Value to set to. Units are in rotations.
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- setPosition
  
  public StatusCode setPosition(double newValue)
  
  Sets the mechanism position of the device in mechanism rotations.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Parameters:
  
  newValue - Value to set to. Units are in rotations.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFaults
  
  public StatusCode clearStickyFaults(double timeoutSeconds)
  
  Clear the sticky faults in the device.
  This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFaults
  
  public StatusCode clearStickyFaults()
  
  Clear the sticky faults in the device.
  This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_Hardware
  
  public StatusCode clearStickyFault_Hardware(double timeoutSeconds)
  
  Clear sticky fault: Hardware fault occurred
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_Hardware
  
  public StatusCode clearStickyFault_Hardware()
  
  Clear sticky fault: Hardware fault occurred
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ProcTemp
  
  public StatusCode clearStickyFault_ProcTemp(double timeoutSeconds)
  
  Clear sticky fault: Processor temperature exceeded limit
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ProcTemp
  
  public StatusCode clearStickyFault_ProcTemp()
  
  Clear sticky fault: Processor temperature exceeded limit
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_DeviceTemp
  
  public StatusCode clearStickyFault_DeviceTemp(double timeoutSeconds)
  
  Clear sticky fault: Device temperature exceeded limit
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_DeviceTemp
  
  public StatusCode clearStickyFault_DeviceTemp()
  
  Clear sticky fault: Device temperature exceeded limit
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_Undervoltage
  
  public StatusCode clearStickyFault_Undervoltage(double timeoutSeconds)
  
  Clear sticky fault: Device supply voltage dropped to near brownout levels
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_Undervoltage
  
  public StatusCode clearStickyFault_Undervoltage()
  
  Clear sticky fault: Device supply voltage dropped to near brownout levels
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_BootDuringEnable
  
  public StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds)
  
  Clear sticky fault: Device boot while detecting the enable signal
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_BootDuringEnable
  
  public StatusCode clearStickyFault_BootDuringEnable()
  
  Clear sticky fault: Device boot while detecting the enable signal
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_BridgeBrownout
  
  public StatusCode clearStickyFault_BridgeBrownout(double timeoutSeconds)
  
  Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_BridgeBrownout
  
  public StatusCode clearStickyFault_BridgeBrownout()
  
  Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_RemoteSensorReset
  
  public StatusCode clearStickyFault_RemoteSensorReset(double timeoutSeconds)
  
  Clear sticky fault: The remote sensor has reset.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_RemoteSensorReset
  
  public StatusCode clearStickyFault_RemoteSensorReset()
  
  Clear sticky fault: The remote sensor has reset.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_MissingDifferentialFX
  
  public StatusCode clearStickyFault_MissingDifferentialFX(double timeoutSeconds)
  
  Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_MissingDifferentialFX
  
  public StatusCode clearStickyFault_MissingDifferentialFX()
  
  Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_RemoteSensorPosOverflow
  
  public StatusCode clearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds)
  
  Clear sticky fault: 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.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_RemoteSensorPosOverflow
  
  public StatusCode clearStickyFault_RemoteSensorPosOverflow()
  
  Clear sticky fault: 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.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_OverSupplyV
  
  public StatusCode clearStickyFault_OverSupplyV(double timeoutSeconds)
  
  Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_OverSupplyV
  
  public StatusCode clearStickyFault_OverSupplyV()
  
  Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_UnstableSupplyV
  
  public StatusCode clearStickyFault_UnstableSupplyV(double timeoutSeconds)
  
  Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_UnstableSupplyV
  
  public StatusCode clearStickyFault_UnstableSupplyV()
  
  Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ReverseHardLimit
  
  public StatusCode clearStickyFault_ReverseHardLimit(double timeoutSeconds)
  
  Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ReverseHardLimit
  
  public StatusCode clearStickyFault_ReverseHardLimit()
  
  Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ForwardHardLimit
  
  public StatusCode clearStickyFault_ForwardHardLimit(double timeoutSeconds)
  
  Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ForwardHardLimit
  
  public StatusCode clearStickyFault_ForwardHardLimit()
  
  Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ReverseSoftLimit
  
  public StatusCode clearStickyFault_ReverseSoftLimit(double timeoutSeconds)
  
  Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ReverseSoftLimit
  
  public StatusCode clearStickyFault_ReverseSoftLimit()
  
  Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ForwardSoftLimit
  
  public StatusCode clearStickyFault_ForwardSoftLimit(double timeoutSeconds)
  
  Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_ForwardSoftLimit
  
  public StatusCode clearStickyFault_ForwardSoftLimit()
  
  Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_RemoteSensorDataInvalid
  
  public StatusCode clearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds)
  
  Clear sticky fault: 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.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_RemoteSensorDataInvalid
  
  public StatusCode clearStickyFault_RemoteSensorDataInvalid()
  
  Clear sticky fault: 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.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_FusedSensorOutOfSync
  
  public StatusCode clearStickyFault_FusedSensorOutOfSync(double timeoutSeconds)
  
  Clear sticky fault: 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.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_FusedSensorOutOfSync
  
  public StatusCode clearStickyFault_FusedSensorOutOfSync()
  
  Clear sticky fault: 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.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_StatorCurrLimit
  
  public StatusCode clearStickyFault_StatorCurrLimit(double timeoutSeconds)
  
  Clear sticky fault: Stator current limit occured.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_StatorCurrLimit
  
  public StatusCode clearStickyFault_StatorCurrLimit()
  
  Clear sticky fault: Stator current limit occured.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_SupplyCurrLimit
  
  public StatusCode clearStickyFault_SupplyCurrLimit(double timeoutSeconds)
  
  Clear sticky fault: Supply current limit occured.
  
  Parameters:
  
  timeoutSeconds - Maximum time to wait up to in seconds.
  
  Returns:
  
  StatusCode of the set command
- clearStickyFault_SupplyCurrLimit
  
  public StatusCode clearStickyFault_SupplyCurrLimit()
  
  Clear sticky fault: Supply current limit occured.
  This will wait up to 0.050 seconds (50ms) by default.
  
  Returns:
  
  StatusCode of the set command

Class CoreTalonFX

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenix6.hardware.ParentDevice

Field Summary

Fields inherited from class com.ctre.phoenix6.hardware.ParentDevice

Constructor Summary

Method Summary

Methods inherited from class com.ctre.phoenix6.hardware.ParentDevice

Methods inherited from class java.lang.Object

Constructor Details

Method Details