Package com.ctre.phoenix6.mechanisms

Class SimpleDifferentialMechanism

java.lang.Object
com.ctre.phoenix6.mechanisms.SimpleDifferentialMechanism
public class SimpleDifferentialMechanism
extends Object
Manages control of a simple two-axis differential mechanism. This mechanism provides limited differential functionality. Pro users on a CAN FD bus can use the DifferentialMechanism class instead for full functionality.

  • Field Details

  • Constructor Details

    • SimpleDifferentialMechanism

      public SimpleDifferentialMechanism​(TalonFX differentialAddFX, TalonFX differentialSubFX, boolean motorDirectionsAlign)
      Creates a new simple differential mechanism using the given two TalonFX devices. The mechanism will use the average of the two Talon FX sensors on the primary axis, and the difference between the two Talon FX sensors on the differential axis.

      This mechanism provides limited differential functionality. Pro users on a CAN FD bus can use the DifferentialMechanism class instead for full functionality.

      Parameters:
      differentialAddFX - The Talon FX that will have the differential output added to its regular output.
      differentialSubFX - The Talon FX that will have the differential output subtracted from its regular output.
      motorDirectionsAlign - Whether the differential motors' directions are aligned.

    • SimpleDifferentialMechanism

      public SimpleDifferentialMechanism​(TalonFX differentialAddFX, TalonFX differentialSubFX, boolean motorDirectionsAlign, Pigeon2 pigeon2, SimpleDifferentialMechanism.DifferentialPigeon2Source pigeonSource)
      Creates a new simple differential mechanism using the given two TalonFX devices and a Pigeon2. The mechanism will use the average of the two Talon FX sensors on the primary axis, and the selected Pigeon 2 sensor source on the differential axis.

      This mechanism provides limited differential functionality. Pro users on a CAN FD bus can use the DifferentialMechanism class instead for full functionality.

      Parameters:
      differentialAddFX - The Talon FX that will have the differential output added to its regular output.
      differentialSubFX - The Talon FX that will have the differential output subtracted from its regular output.
      motorDirectionsAlign - Whether the differential motors' directions are aligned.
      pigeon2 - The Pigeon 2 to use for the differential axis.
      pigeonSource - The sensor source to use for the Pigeon 2 (Yaw, Pitch, or Roll).

    • SimpleDifferentialMechanism

      public SimpleDifferentialMechanism​(TalonFX differentialAddFX, TalonFX differentialSubFX, boolean motorDirectionsAlign, CANcoder cancoder)
      Creates a new simple differential mechanism using the given two TalonFX devices and a CANcoder. The mechanism will use the average of the two Talon FX sensors on the primary axis, and the CANcoder position/velocity on the differential axis.

      This mechanism provides limited differential functionality. Pro users on a CAN FD bus can use the DifferentialMechanism class instead for full functionality.

      Parameters:
      differentialAddFX - The Talon FX that will have the differential output added to its regular output.
      differentialSubFX - The Talon FX that will have the differential output subtracted from its regular output.
      motorDirectionsAlign - Whether the differential motors' directions are aligned.
      cancoder - The CANcoder to use for the differential axis.

  • Method Details

    • getDifferentialLeader

      public TalonFX getDifferentialLeader()
      Get the Talon FX that is differential leader. The differential leader calculates the output for the differential follower. The differential leader is also useful for fault detection, and it reports status signals for the differential controller.
      Returns:
      Differential leader Talon FX

    • getDifferentialFollower

      public TalonFX getDifferentialFollower()
      Get the Talon FX that is differential follower. The differential follower's position and velocity are used by the differential leader for the differential controller.
      Returns:
      Differential follower Talon FX

    • applyConfigs

      public StatusCode applyConfigs()
      Apply the mechanism configs to the devices. This should be called after applying all other configs to the devices.

      If the user does not call this function by the time SetControl is called, SetControl will apply the configs once.

      This function defaults to retrying up to kDefaultConfigRetries.

      Returns:
      Status Code of the config applies.

    • applyConfigs

      public StatusCode applyConfigs​(int numRetries)
      Apply the mechanism configs to the devices. This should be called after applying all other configs to the devices.

      If the user does not call this function by the time SetControl is called, SetControl will apply the configs once.

      Parameters:
      numRetries - Number of retries when applying the configs
      Returns:
      Status Code of the config applies.

    • periodic

      public void periodic()
      Call this method periodically to keep the mechanism state updated.

    • isDisabled

      public boolean isDisabled()
      Get whether the mechanism is currently disabled due to an issue.
      Returns:
      true if the mechanism is temporarily disabled

    • requiresUserAction

      public boolean requiresUserAction()
      Get whether the mechanism is currently disabled and requires user action to re-enable mechanism control.
      Returns:
      true if the mechanism is disabled and the user must manually perform an action

    • getMechanismState

      public MechanismState getMechanismState()
      Gets the state of the mechanism.
      Returns:
      MechanismState representing the state of the mechanism

    • clearUserRequirement

      public void clearUserRequirement()
      Indicate to the mechanism that the user has performed the required action to resume mechanism control.

    • getDisabledReason

      public SimpleDifferentialMechanism.DisabledReason getDisabledReason()
      Returns:
      The reason for the mechanism being disabled

    • getRequiresUserReason

      public SimpleDifferentialMechanism.RequiresUserReason getRequiresUserReason()
      Returns:
      The reason for the mechanism requiring user action to resume control

    • setNeutralOut

      public StatusCode setNeutralOut()
      Request neutral output of mechanism. The applied brake type is determined by the NeutralMode configuration of each device.

      Since the NeutralMode configuration of devices may not align, users may prefer to use the setCoastOut() or setStaticBrake() method.

      Returns:
      Status Code of the request.

    • setCoastOut

      public StatusCode setCoastOut()
      Request coast neutral output of mechanism. The bridge is disabled and the rotor is allowed to coast.
      Returns:
      Status Code of the request.

    • setStaticBrake

      public StatusCode setStaticBrake()
      Applies full neutral-brake on the mechanism by shorting motor leads together.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialDutyCycle _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Request a specified motor duty cycle with a differential position closed-loop.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialVoltage _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Request a specified voltage with a differential position closed-loop.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialPositionDutyCycle _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Request PID to target position with a differential position setpoint.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialPositionVoltage _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Request PID to target position with a differential position setpoint
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialVelocityDutyCycle _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Request PID to target velocity with a differential position setpoint.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialVelocityVoltage _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Request PID to target velocity with a differential position setpoint.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialMotionMagicDutyCycle _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
      Returns:
      Status Code of the request.

    • setControl

      public StatusCode setControl​(DifferentialMotionMagicVoltage _diffAddFXRequest)
      Sets the control request for this mechanism.
      Parameters:
      _diffAddFXRequest - Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
      Returns:
      Status Code of the request.