Package com.ctre.phoenix6.signals

Enum FeedbackSensorSourceValue

java.lang.Object
java.lang.Enum<FeedbackSensorSourceValue>
com.ctre.phoenix6.signals.FeedbackSensorSourceValue
All Implemented Interfaces:
Serializable, Comparable<FeedbackSensorSourceValue>, java.lang.constant.Constable
public enum FeedbackSensorSourceValue
extends Enum<FeedbackSensorSourceValue>
Choose what sensor source is reported via API and used by closed-loop and limit features. The default is RotorSensor, which uses the internal rotor sensor in the Talon FX.

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

Choose FusedCANcoder (requires Phoenix Pro) and Talon FX will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

Choose SyncCANcoder (requires Phoenix Pro) and Talon FX will synchronize its internal rotor position against another CANcoder, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The TalonFX will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

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

Note: When the feedback source is changed to FusedCANcoder, the Talon FX needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the CANcoder's Position signal.