Enum Class DifferentialSensorSourceValue

java.lang.Object
java.lang.Enum<DifferentialSensorSourceValue>
com.ctre.phoenix6.signals.DifferentialSensorSourceValue
All Implemented Interfaces:
Serializable, Comparable<DifferentialSensorSourceValue>, java.lang.constant.Constable

Choose what sensor source is used for differential control of a mechanism. The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.

Choose RemoteTalonFX_Diff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.

  • Enum Constant Details

    • Disabled

      Disable differential control.
    • RemoteTalonFX_Diff

      Use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.
    • RemotePigeon2_Yaw

      Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
    • RemotePigeon2_Pitch

      Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
    • RemotePigeon2_Roll

      Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.
    • RemoteCANcoder

      Use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.
  • Field Details

    • value

      public final int value
  • Method Details

    • values

      Returns an array containing the constants of this enum class, in the order they are declared.
      Returns:
      an array containing the constants of this enum class, in the order they are declared
    • valueOf

      Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)
      Parameters:
      name - the name of the enum constant to be returned.
      Returns:
      the enum constant with the specified name
      Throws:
      IllegalArgumentException - if this enum class has no constant with the specified name
      NullPointerException - if the argument is null
    • valueOf

      public static DifferentialSensorSourceValue valueOf(int value)
      Gets DifferentialSensorSourceValue from specified value
      Parameters:
      value - Value of DifferentialSensorSourceValue
      Returns:
      DifferentialSensorSourceValue of specified value