Package com.ctre.phoenix6.hardware.traits

Interface HasExternalMotor

All Known Subinterfaces:
CommonTalonWithExternalMotor
All Known Implementing Classes:
CoreTalonFXS, TalonFXS
public interface HasExternalMotor
Contains all status signals for motor controllers that support external motors.

  • Method Details

    • getExternalMotorTempStatus

      StatusSignal<ExternalMotorTempStatusValue> getExternalMotorTempStatus()
      Status of the temperature sensor of the external motor.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ExternalMotorTempStatus Status Signal Object

    • getExternalMotorTempStatus

      StatusSignal<ExternalMotorTempStatusValue> getExternalMotorTempStatus(boolean refresh)
      Status of the temperature sensor of the external motor.

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ExternalMotorTempStatus Status Signal Object

    • getExternalMotorTemp

      StatusSignal<Temperature> getExternalMotorTemp()
      Temperature of the external motor.
      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ExternalMotorTemp Status Signal Object

    • getExternalMotorTemp

      StatusSignal<Temperature> getExternalMotorTemp(boolean refresh)
      Temperature of the external motor.
      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ExternalMotorTemp Status Signal Object

    • getFiveVRailVoltage

      StatusSignal<Voltage> getFiveVRailVoltage()
      The measured voltage of the 5V rail available on the JST and dataport connectors.
      • Minimum Value: 0.0
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: Volts

      This refreshes and returns a cached StatusSignal object.

      Returns:
      FiveVRailVoltage Status Signal Object

    • getFiveVRailVoltage

      StatusSignal<Voltage> getFiveVRailVoltage(boolean refresh)
      The measured voltage of the 5V rail available on the JST and dataport connectors.
      • Minimum Value: 0.0
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: Volts

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      FiveVRailVoltage Status Signal Object

    • getAnalogVoltage

      StatusSignal<Voltage> getAnalogVoltage()
      The voltage of the analog pin (pin 3) of the Talon FXS data port. The analog pin reads a nominal voltage of 0-5V.
      • Minimum Value: 0
      • Maximum Value: 6
      • Default Value: 0
      • Units: Volts

      This refreshes and returns a cached StatusSignal object.

      Returns:
      AnalogVoltage Status Signal Object

    • getAnalogVoltage

      StatusSignal<Voltage> getAnalogVoltage(boolean refresh)
      The voltage of the analog pin (pin 3) of the Talon FXS data port. The analog pin reads a nominal voltage of 0-5V.
      • Minimum Value: 0
      • Maximum Value: 6
      • Default Value: 0
      • Units: Volts

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AnalogVoltage Status Signal Object

    • getRawQuadraturePosition

      StatusSignal<Angle> getRawQuadraturePosition()
      The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RawQuadraturePosition Status Signal Object

    • getRawQuadraturePosition

      StatusSignal<Angle> getRawQuadraturePosition(boolean refresh)
      The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawQuadraturePosition Status Signal Object

    • getRawQuadratureVelocity

      StatusSignal<AngularVelocity> getRawQuadratureVelocity()
      The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RawQuadratureVelocity Status Signal Object

    • getRawQuadratureVelocity

      StatusSignal<AngularVelocity> getRawQuadratureVelocity(boolean refresh)
      The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawQuadratureVelocity Status Signal Object

    • getRawPulseWidthPosition

      StatusSignal<Angle> getRawPulseWidthPosition()
      The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RawPulseWidthPosition Status Signal Object

    • getRawPulseWidthPosition

      StatusSignal<Angle> getRawPulseWidthPosition(boolean refresh)
      The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawPulseWidthPosition Status Signal Object

    • getRawPulseWidthVelocity

      StatusSignal<AngularVelocity> getRawPulseWidthVelocity()
      The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RawPulseWidthVelocity Status Signal Object

    • getRawPulseWidthVelocity

      StatusSignal<AngularVelocity> getRawPulseWidthVelocity(boolean refresh)
      The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawPulseWidthVelocity Status Signal Object

    • getFault_BridgeShort

      StatusSignal<Boolean> getFault_BridgeShort()
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_BridgeShort Status Signal Object

    • getFault_BridgeShort

      StatusSignal<Boolean> getFault_BridgeShort(boolean refresh)
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BridgeShort Status Signal Object

    • getStickyFault_BridgeShort

      StatusSignal<Boolean> getStickyFault_BridgeShort()
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_BridgeShort Status Signal Object

    • getStickyFault_BridgeShort

      StatusSignal<Boolean> getStickyFault_BridgeShort(boolean refresh)
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BridgeShort Status Signal Object

    • getFault_HallSensorMissing

      StatusSignal<Boolean> getFault_HallSensorMissing()
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_HallSensorMissing Status Signal Object

    • getFault_HallSensorMissing

      StatusSignal<Boolean> getFault_HallSensorMissing(boolean refresh)
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_HallSensorMissing Status Signal Object

    • getStickyFault_HallSensorMissing

      StatusSignal<Boolean> getStickyFault_HallSensorMissing()
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_HallSensorMissing Status Signal Object

    • getStickyFault_HallSensorMissing

      StatusSignal<Boolean> getStickyFault_HallSensorMissing(boolean refresh)
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_HallSensorMissing Status Signal Object

    • getFault_DriveDisabledHallSensor

      StatusSignal<Boolean> getFault_DriveDisabledHallSensor()
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_DriveDisabledHallSensor Status Signal Object

    • getFault_DriveDisabledHallSensor

      StatusSignal<Boolean> getFault_DriveDisabledHallSensor(boolean refresh)
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_DriveDisabledHallSensor Status Signal Object

    • getStickyFault_DriveDisabledHallSensor

      StatusSignal<Boolean> getStickyFault_DriveDisabledHallSensor()
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_DriveDisabledHallSensor Status Signal Object

    • getStickyFault_DriveDisabledHallSensor

      StatusSignal<Boolean> getStickyFault_DriveDisabledHallSensor(boolean refresh)
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_DriveDisabledHallSensor Status Signal Object

    • getFault_MotorTempSensorMissing

      StatusSignal<Boolean> getFault_MotorTempSensorMissing()
      Motor temperature signal appears to not be connected.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_MotorTempSensorMissing Status Signal Object

    • getFault_MotorTempSensorMissing

      StatusSignal<Boolean> getFault_MotorTempSensorMissing(boolean refresh)
      Motor temperature signal appears to not be connected.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MotorTempSensorMissing Status Signal Object

    • getStickyFault_MotorTempSensorMissing

      StatusSignal<Boolean> getStickyFault_MotorTempSensorMissing()
      Motor temperature signal appears to not be connected.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_MotorTempSensorMissing Status Signal Object

    • getStickyFault_MotorTempSensorMissing

      StatusSignal<Boolean> getStickyFault_MotorTempSensorMissing(boolean refresh)
      Motor temperature signal appears to not be connected.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MotorTempSensorMissing Status Signal Object

    • getFault_MotorTempSensorTooHot

      StatusSignal<Boolean> getFault_MotorTempSensorTooHot()
      Motor temperature signal indicates motor is too hot.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_MotorTempSensorTooHot Status Signal Object

    • getFault_MotorTempSensorTooHot

      StatusSignal<Boolean> getFault_MotorTempSensorTooHot(boolean refresh)
      Motor temperature signal indicates motor is too hot.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MotorTempSensorTooHot Status Signal Object

    • getStickyFault_MotorTempSensorTooHot

      StatusSignal<Boolean> getStickyFault_MotorTempSensorTooHot()
      Motor temperature signal indicates motor is too hot.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_MotorTempSensorTooHot Status Signal Object

    • getStickyFault_MotorTempSensorTooHot

      StatusSignal<Boolean> getStickyFault_MotorTempSensorTooHot(boolean refresh)
      Motor temperature signal indicates motor is too hot.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MotorTempSensorTooHot Status Signal Object

    • clearStickyFault_BridgeShort

      StatusCode clearStickyFault_BridgeShort()
      Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeShort

      StatusCode clearStickyFault_BridgeShort(double timeoutSeconds)
      Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_HallSensorMissing

      StatusCode clearStickyFault_HallSensorMissing()
      Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_HallSensorMissing

      StatusCode clearStickyFault_HallSensorMissing(double timeoutSeconds)
      Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_DriveDisabledHallSensor

      StatusCode clearStickyFault_DriveDisabledHallSensor()
      Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_DriveDisabledHallSensor

      StatusCode clearStickyFault_DriveDisabledHallSensor(double timeoutSeconds)
      Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorMissing

      StatusCode clearStickyFault_MotorTempSensorMissing()
      Clear sticky fault: Motor temperature signal appears to not be connected.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorMissing

      StatusCode clearStickyFault_MotorTempSensorMissing(double timeoutSeconds)
      Clear sticky fault: Motor temperature signal appears to not be connected.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorTooHot

      StatusCode clearStickyFault_MotorTempSensorTooHot()
      Clear sticky fault: Motor temperature signal indicates motor is too hot.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorTooHot

      StatusCode clearStickyFault_MotorTempSensorTooHot(double timeoutSeconds)
      Clear sticky fault: Motor temperature signal indicates motor is too hot.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command