Class description for the Talon FX integrated motor controller. More...

#include <ctre/phoenix6/core/CoreTalonFX.hpp>

Inheritance diagram for ctre::phoenix6::hardware::core::CoreTalonFX:

Public Types
using	Configuration = configs::TalonFXConfiguration
	The configuration class for this device.

Public Member Functions
	CoreTalonFX (int deviceId, CANBus canbus={})
	Constructs a new Talon FX motor controller object.

	CoreTalonFX (int deviceId, std::string canbus)
	Constructs a new Talon FX motor controller object.

configs::TalonFXConfigurator &	GetConfigurator ()
	Gets the configurator for this TalonFX.

configs::TalonFXConfigurator const &	GetConfigurator () const
	Gets the configurator for this TalonFX.

sim::TalonFXSimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true) final
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true) final
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true) final
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true) final
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true) final
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true) final
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true) final
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< units::voltage::volt_t > &	GetMotorVoltage (bool refresh=true) final
	The applied (output) motor voltage.

StatusSignal< signals::ForwardLimitValue > &	GetForwardLimit (bool refresh=true) final
	Forward Limit Pin.

StatusSignal< signals::ReverseLimitValue > &	GetReverseLimit (bool refresh=true) final
	Reverse Limit Pin.

StatusSignal< signals::AppliedRotorPolarityValue > &	GetAppliedRotorPolarity (bool refresh=true) final
	The applied rotor polarity as seen from the front of the motor.

StatusSignal< units::dimensionless::scalar_t > &	GetDutyCycle (bool refresh=true) final
	The applied motor duty cycle.

StatusSignal< units::current::ampere_t > &	GetTorqueCurrent (bool refresh=true) final
	Current corresponding to the torque output by the motor.

StatusSignal< units::current::ampere_t > &	GetStatorCurrent (bool refresh=true) final
	Current corresponding to the stator windings.

StatusSignal< units::current::ampere_t > &	GetSupplyCurrent (bool refresh=true) final
	Measured supply side current.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true) final
	Measured supply voltage to the device.

StatusSignal< units::temperature::celsius_t > &	GetDeviceTemp (bool refresh=true) final
	Temperature of device.

StatusSignal< units::temperature::celsius_t > &	GetProcessorTemp (bool refresh=true) final
	Temperature of the processor.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetRotorVelocity (bool refresh=true) final
	Velocity of the motor rotor.

StatusSignal< units::angle::turn_t > &	GetRotorPosition (bool refresh=true) final
	Position of the motor rotor.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetVelocity (bool refresh=true) final
	Velocity of the device in mechanism rotations per second.

StatusSignal< units::angle::turn_t > &	GetPosition (bool refresh=true) final
	Position of the device in mechanism rotations.

StatusSignal< units::angular_acceleration::turns_per_second_squared_t > &	GetAcceleration (bool refresh=true) final
	Acceleration of the device in mechanism rotations per second².

StatusSignal< signals::ControlModeValue > &	GetControlMode (bool refresh=true) final
	The active control mode of the motor controller.

StatusSignal< bool > &	GetMotionMagicAtTarget (bool refresh=true) final
	Check if the Motion Magic® profile has reached the target.

StatusSignal< bool > &	GetMotionMagicIsRunning (bool refresh=true) final
	Check if Motion Magic® is running.

StatusSignal< signals::RobotEnableValue > &	GetRobotEnable (bool refresh=true) final
	Indicates if the robot is enabled.

StatusSignal< signals::DeviceEnableValue > &	GetDeviceEnable (bool refresh=true) final
	Indicates if device is actuator enabled.

StatusSignal< int > &	GetClosedLoopSlot (bool refresh=true) final
	The slot that the closed-loop PID is using.

StatusSignal< signals::MotorOutputStatusValue > &	GetMotorOutputStatus (bool refresh=true) final
	Assess the status of the motor output with respect to load and supply.

StatusSignal< signals::DifferentialControlModeValue > &	GetDifferentialControlMode (bool refresh=true) final
	The active control mode of the differential controller.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetDifferentialAverageVelocity (bool refresh=true) final
	Average component of the differential velocity of device.

StatusSignal< units::angle::turn_t > &	GetDifferentialAveragePosition (bool refresh=true) final
	Average component of the differential position of device.

StatusSignal< units::angular_velocity::turns_per_second_t > &	GetDifferentialDifferenceVelocity (bool refresh=true) final
	Difference component of the differential velocity of device.

StatusSignal< units::angle::turn_t > &	GetDifferentialDifferencePosition (bool refresh=true) final
	Difference component of the differential position of device.

StatusSignal< int > &	GetDifferentialClosedLoopSlot (bool refresh=true) final
	The slot that the closed-loop differential PID is using.

StatusSignal< ctre::unit::newton_meters_per_ampere_t > &	GetMotorKT (bool refresh=true) final
	The torque constant (K_T) of the motor.

StatusSignal< ctre::unit::rpm_per_volt_t > &	GetMotorKV (bool refresh=true) final
	The velocity constant (K_V) of the motor.

StatusSignal< units::current::ampere_t > &	GetMotorStallCurrent (bool refresh=true) final
	The stall current of the motor at 12 V output.

StatusSignal< signals::BridgeOutputValue > &	GetBridgeOutput (bool refresh=true) final
	The applied output of the bridge.

StatusSignal< bool > &	GetIsProLicensed (bool refresh=true) final
	Whether the device is Phoenix Pro licensed.

StatusSignal< units::temperature::celsius_t > &	GetAncillaryDeviceTemp (bool refresh=true) final
	Temperature of device from second sensor.

StatusSignal< signals::ConnectedMotorValue > &	GetConnectedMotor (bool refresh=true) final
	The type of motor attached to the Talon.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true) final
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true) final
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_ProcTemp (bool refresh=true) final
	Processor temperature exceeded limit.

StatusSignal< bool > &	GetStickyFault_ProcTemp (bool refresh=true) final
	Processor temperature exceeded limit.

StatusSignal< bool > &	GetFault_DeviceTemp (bool refresh=true) final
	Device temperature exceeded limit.

StatusSignal< bool > &	GetStickyFault_DeviceTemp (bool refresh=true) final
	Device temperature exceeded limit.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true) final
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true) final
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true) final
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true) final
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true) final
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true) final
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_BridgeBrownout (bool refresh=true) final
	Bridge was disabled most likely due to supply voltage dropping too low.

StatusSignal< bool > &	GetStickyFault_BridgeBrownout (bool refresh=true) final
	Bridge was disabled most likely due to supply voltage dropping too low.

StatusSignal< bool > &	GetFault_RemoteSensorReset (bool refresh=true) final
	The remote sensor has reset.

StatusSignal< bool > &	GetStickyFault_RemoteSensorReset (bool refresh=true) final
	The remote sensor has reset.

StatusSignal< bool > &	GetFault_MissingDifferentialFX (bool refresh=true) final
	The remote Talon used for differential control is not present on CAN Bus.

StatusSignal< bool > &	GetStickyFault_MissingDifferentialFX (bool refresh=true) final
	The remote Talon used for differential control is not present on CAN Bus.

StatusSignal< bool > &	GetFault_RemoteSensorPosOverflow (bool refresh=true) final
	The remote sensor position has overflowed.

StatusSignal< bool > &	GetStickyFault_RemoteSensorPosOverflow (bool refresh=true) final
	The remote sensor position has overflowed.

StatusSignal< bool > &	GetFault_OverSupplyV (bool refresh=true) final
	Supply Voltage has exceeded the maximum voltage rating of device.

StatusSignal< bool > &	GetStickyFault_OverSupplyV (bool refresh=true) final
	Supply Voltage has exceeded the maximum voltage rating of device.

StatusSignal< bool > &	GetFault_UnstableSupplyV (bool refresh=true) final
	Supply Voltage is unstable.

StatusSignal< bool > &	GetStickyFault_UnstableSupplyV (bool refresh=true) final
	Supply Voltage is unstable.

StatusSignal< bool > &	GetFault_ReverseHardLimit (bool refresh=true) final
	Reverse limit switch has been asserted.

StatusSignal< bool > &	GetStickyFault_ReverseHardLimit (bool refresh=true) final
	Reverse limit switch has been asserted.

StatusSignal< bool > &	GetFault_ForwardHardLimit (bool refresh=true) final
	Forward limit switch has been asserted.

StatusSignal< bool > &	GetStickyFault_ForwardHardLimit (bool refresh=true) final
	Forward limit switch has been asserted.

StatusSignal< bool > &	GetFault_ReverseSoftLimit (bool refresh=true) final
	Reverse soft limit has been asserted.

StatusSignal< bool > &	GetStickyFault_ReverseSoftLimit (bool refresh=true) final
	Reverse soft limit has been asserted.

StatusSignal< bool > &	GetFault_ForwardSoftLimit (bool refresh=true) final
	Forward soft limit has been asserted.

StatusSignal< bool > &	GetStickyFault_ForwardSoftLimit (bool refresh=true) final
	Forward soft limit has been asserted.

StatusSignal< bool > &	GetFault_MissingSoftLimitRemote (bool refresh=true) final
	The remote soft limit device is not present on CAN Bus.

StatusSignal< bool > &	GetStickyFault_MissingSoftLimitRemote (bool refresh=true) final
	The remote soft limit device is not present on CAN Bus.

StatusSignal< bool > &	GetFault_MissingHardLimitRemote (bool refresh=true) final
	The remote limit switch device is not present on CAN Bus.

StatusSignal< bool > &	GetStickyFault_MissingHardLimitRemote (bool refresh=true) final
	The remote limit switch device is not present on CAN Bus.

StatusSignal< bool > &	GetFault_RemoteSensorDataInvalid (bool refresh=true) final
	The remote sensor's data is no longer trusted.

StatusSignal< bool > &	GetStickyFault_RemoteSensorDataInvalid (bool refresh=true) final
	The remote sensor's data is no longer trusted.

StatusSignal< bool > &	GetFault_FusedSensorOutOfSync (bool refresh=true) final
	The remote sensor used for fusion has fallen out of sync to the local sensor.

StatusSignal< bool > &	GetStickyFault_FusedSensorOutOfSync (bool refresh=true) final
	The remote sensor used for fusion has fallen out of sync to the local sensor.

StatusSignal< bool > &	GetFault_StatorCurrLimit (bool refresh=true) final
	Stator current limit occured.

StatusSignal< bool > &	GetStickyFault_StatorCurrLimit (bool refresh=true) final
	Stator current limit occured.

StatusSignal< bool > &	GetFault_SupplyCurrLimit (bool refresh=true) final
	Supply current limit occured.

StatusSignal< bool > &	GetStickyFault_SupplyCurrLimit (bool refresh=true) final
	Supply current limit occured.

StatusSignal< bool > &	GetFault_UsingFusedCANcoderWhileUnlicensed (bool refresh=true) final
	Using Fused CANcoder feature while unlicensed.

StatusSignal< bool > &	GetStickyFault_UsingFusedCANcoderWhileUnlicensed (bool refresh=true) final
	Using Fused CANcoder feature while unlicensed.

StatusSignal< bool > &	GetFault_StaticBrakeDisabled (bool refresh=true) final
	Static brake was momentarily disabled due to excessive braking current while disabled.

StatusSignal< bool > &	GetStickyFault_StaticBrakeDisabled (bool refresh=true) final
	Static brake was momentarily disabled due to excessive braking current while disabled.

StatusSignal< bool > &	GetFault_RotorFault1 (bool refresh=true) final
	Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

StatusSignal< bool > &	GetStickyFault_RotorFault1 (bool refresh=true) final
	Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

StatusSignal< bool > &	GetFault_RotorFault2 (bool refresh=true) final
	Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

StatusSignal< bool > &	GetStickyFault_RotorFault2 (bool refresh=true) final
	Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

StatusSignal< double > &	GetClosedLoopProportionalOutput (bool refresh=true) final
	Closed loop proportional component.

StatusSignal< double > &	GetClosedLoopIntegratedOutput (bool refresh=true) final
	Closed loop integrated component.

StatusSignal< double > &	GetClosedLoopFeedForward (bool refresh=true) final
	Feedforward passed by the user.

StatusSignal< double > &	GetClosedLoopDerivativeOutput (bool refresh=true) final
	Closed loop derivative component.

StatusSignal< double > &	GetClosedLoopOutput (bool refresh=true) final
	Closed loop total output.

StatusSignal< double > &	GetClosedLoopReference (bool refresh=true) final
	Value that the closed loop is targeting.

StatusSignal< double > &	GetClosedLoopReferenceSlope (bool refresh=true) final
	Derivative of the target that the closed loop is targeting.

StatusSignal< double > &	GetClosedLoopError (bool refresh=true) final
	The difference between target reference and current measurement.

StatusSignal< double > &	GetDifferentialOutput (bool refresh=true) final
	The calculated motor output for differential followers.

StatusSignal< double > &	GetDifferentialClosedLoopProportionalOutput (bool refresh=true) final
	Differential closed loop proportional component.

StatusSignal< double > &	GetDifferentialClosedLoopIntegratedOutput (bool refresh=true) final
	Differential closed loop integrated component.

StatusSignal< double > &	GetDifferentialClosedLoopFeedForward (bool refresh=true) final
	Differential Feedforward passed by the user.

StatusSignal< double > &	GetDifferentialClosedLoopDerivativeOutput (bool refresh=true) final
	Differential closed loop derivative component.

StatusSignal< double > &	GetDifferentialClosedLoopOutput (bool refresh=true) final
	Differential closed loop total output.

StatusSignal< double > &	GetDifferentialClosedLoopReference (bool refresh=true) final
	Value that the differential closed loop is targeting.

StatusSignal< double > &	GetDifferentialClosedLoopReferenceSlope (bool refresh=true) final
	Derivative of the target that the differential closed loop is targeting.

StatusSignal< double > &	GetDifferentialClosedLoopError (bool refresh=true) final
	The difference between target differential reference and current measurement.

ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut const &request) final
	Request a specified motor duty cycle.

ctre::phoenix::StatusCode	SetControl (controls::TorqueCurrentFOC const &request) final
	Request a specified motor current (field oriented control).

ctre::phoenix::StatusCode	SetControl (controls::VoltageOut const &request) final
	Request a specified voltage.

ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle const &request) final
	Request PID to target position with duty cycle feedforward.

ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage const &request) final
	Request PID to target position with voltage feedforward.

ctre::phoenix::StatusCode	SetControl (controls::PositionTorqueCurrentFOC const &request) final
	Request PID to target position with torque current feedforward.

ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle const &request) final
	Request PID to target velocity with duty cycle feedforward.

ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage const &request) final
	Request PID to target velocity with voltage feedforward.

ctre::phoenix::StatusCode	SetControl (controls::VelocityTorqueCurrentFOC const &request) final
	Request PID to target velocity with torque current feedforward.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle const &request) final
	Requests Motion Magic® to target a final position using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage const &request) final
	Requests Motion Magic® to target a final position using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicTorqueCurrentFOC const &request) final
	Requests Motion Magic® to target a final position using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialDutyCycle const &request) final
	Request a specified motor duty cycle with a differential position closed-loop.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVoltage const &request) final
	Request a specified voltage with a differential position closed-loop.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionDutyCycle const &request) final
	Request PID to target position with a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionVoltage const &request) final
	Request PID to target position with a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityDutyCycle const &request) final
	Request PID to target velocity with a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityVoltage const &request) final
	Request PID to target velocity with a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicDutyCycle const &request) final
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVoltage const &request) final
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicExpoDutyCycle const &request) final
	Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicExpoVoltage const &request) final
	Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVelocityDutyCycle const &request) final
	Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVelocityVoltage const &request) final
	Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.

ctre::phoenix::StatusCode	SetControl (controls::Follower const &request) final
	Follow the motor output of another Talon.

ctre::phoenix::StatusCode	SetControl (controls::StrictFollower const &request) final
	Follow the motor output of another Talon while ignoring the leader's invert setting.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialFollower const &request) final
	Follow the differential motor output of another Talon.

ctre::phoenix::StatusCode	SetControl (controls::DifferentialStrictFollower const &request) final
	Follow the differential motor output of another Talon while ignoring the leader's invert setting.

ctre::phoenix::StatusCode	SetControl (controls::NeutralOut const &request) final
	Request neutral output of actuator.

ctre::phoenix::StatusCode	SetControl (controls::CoastOut const &request) final
	Request coast neutral output of actuator.

ctre::phoenix::StatusCode	SetControl (controls::StaticBrake const &request) final
	Applies full neutral-brake by shorting motor leads together.

ctre::phoenix::StatusCode	SetControl (controls::MusicTone const &request) final
	Plays a single tone at the user specified frequency.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle const &request) final
	Requests Motion Magic® to target a final velocity using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityTorqueCurrentFOC const &request) final
	Requests Motion Magic® to target a final velocity using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage const &request) final
	Requests Motion Magic® to target a final velocity using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoDutyCycle const &request) final
	Requests Motion Magic® to target a final position using an exponential motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoVoltage const &request) final
	Requests Motion Magic® to target a final position using an exponential motion profile.

ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoTorqueCurrentFOC const &request) final
	Requests Motion Magic® to target a final position using an exponential motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicDutyCycle const &request) final
	Requests Motion Magic® to target a final position using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicVoltage const &request) final
	Requests Motion Magic® to target a final position using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicTorqueCurrentFOC const &request) final
	Requests Motion Magic® to target a final position using a motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicExpoDutyCycle const &request) final
	Requests Motion Magic® Expo to target a final position using an exponential motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicExpoVoltage const &request) final
	Requests Motion Magic® Expo to target a final position using an exponential motion profile.

ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicExpoTorqueCurrentFOC const &request) final
	Requests Motion Magic® Expo to target a final position using an exponential motion profile.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_Position const &request) final
	Differential control with duty cycle average target and position difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_Position const &request) final
	Differential control with position average target and position difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_Position const &request) final
	Differential control with velocity average target and position difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_Position const &request) final
	Differential control with Motion Magic® average target and position difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoDutyCycle_Position const &request) final
	Differential control with Motion Magic® Expo average target and position difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityDutyCycle_Position const &request) final
	Differential control with Motion Magic® Velocity average target and position difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_Velocity const &request) final
	Differential control with duty cycle average target and velocity difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_Velocity const &request) final
	Differential control with position average target and velocity difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_Velocity const &request) final
	Differential control with velocity average target and velocity difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_Velocity const &request) final
	Differential control with Motion Magic® average target and velocity difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoDutyCycle_Velocity const &request) final
	Differential control with Motion Magic® Expo average target and velocity difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityDutyCycle_Velocity const &request) final
	Differential control with Motion Magic® Velocity average target and velocity difference target using duty cycle control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_Open const &request) final
	Differential control with duty cycle average target and duty cycle difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_Open const &request) final
	Differential control with position average target and duty cycle difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_Open const &request) final
	Differential control with velocity average target and duty cycle difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_Open const &request) final
	Differential control with Motion Magic® average target and duty cycle difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoDutyCycle_Open const &request) final
	Differential control with Motion Magic® Expo average target and duty cycle difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityDutyCycle_Open const &request) final
	Differential control with Motion Magic® Velocity average target and duty cycle difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_Position const &request) final
	Differential control with voltage average target and position difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_Position const &request) final
	Differential control with position average target and position difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_Position const &request) final
	Differential control with velocity average target and position difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_Position const &request) final
	Differential control with Motion Magic® average target and position difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoVoltage_Position const &request) final
	Differential control with Motion Magic® Expo average target and position difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityVoltage_Position const &request) final
	Differential control with Motion Magic® Velocity average target and position difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_Velocity const &request) final
	Differential control with voltage average target and velocity difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_Velocity const &request) final
	Differential control with position average target and velocity difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_Velocity const &request) final
	Differential control with velocity average target and velocity difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_Velocity const &request) final
	Differential control with Motion Magic® average target and velocity difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoVoltage_Velocity const &request) final
	Differential control with Motion Magic® Expo average target and velocity difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityVoltage_Velocity const &request) final
	Differential control with Motion Magic® Velocity average target and velocity difference target using voltage control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_Open const &request) final
	Differential control with voltage average target and voltage difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_Open const &request) final
	Differential control with position average target and voltage difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_Open const &request) final
	Differential control with velocity average target and voltage difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_Open const &request) final
	Differential control with Motion Magic® average target and voltage difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoVoltage_Open const &request) final
	Differential control with Motion Magic® Expo average target and voltage difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityVoltage_Open const &request) final
	Differential control with Motion Magic® Velocity average target and voltage difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_Position const &request) final
	Differential control with torque current average target and position difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Position const &request) final
	Differential control with position average target and position difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Position const &request) final
	Differential control with velocity average target and position difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position const &request) final
	Differential control with Motion Magic® average target and position difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoTorqueCurrentFOC_Position const &request) final
	Differential control with Motion Magic® Expo average target and position difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityTorqueCurrentFOC_Position const &request) final
	Differential control with Motion Magic® Velocity average target and position difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_Velocity const &request) final
	Differential control with torque current average target and velocity difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Velocity const &request) final
	Differential control with position average target and velocity difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity const &request) final
	Differential control with velocity average target and velocity difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity const &request) final
	Differential control with Motion Magic® average target and velocity difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoTorqueCurrentFOC_Velocity const &request) final
	Differential control with Motion Magic® Expo average target and velocity difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity const &request) final
	Differential control with Motion Magic® Velocity average target and velocity difference target using torque current control.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_TorqueCurrentFOC_Open const &request) final
	Differential control with torque current average target and torque current difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Open const &request) final
	Differential control with position average target and torque current difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Open const &request) final
	Differential control with velocity average target and torque current difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Open const &request) final
	Differential control with Motion Magic® average target and torque current difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoTorqueCurrentFOC_Open const &request) final
	Differential control with Motion Magic® Expo average target and torque current difference target.

ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityTorqueCurrentFOC_Open const &request) final
	Differential control with Motion Magic® Velocity average target and torque current difference target.

ctre::phoenix::StatusCode	SetControl (controls::EmptyControl const &request) final
	Apply a generic empty control used to do nothing.

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest const &request) final
	Control device with generic control request object.

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds) final
	Sets the mechanism position of the device in mechanism rotations.

ctre::phoenix::StatusCode	SetPosition (units::angle::turn_t newValue) final
	Sets the mechanism position of the device in mechanism rotations.

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds) final
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFaults () final
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware () final
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_ProcTemp (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Processor temperature exceeded limit.

ctre::phoenix::StatusCode	ClearStickyFault_ProcTemp () final
	Clear sticky fault: Processor temperature exceeded limit.

ctre::phoenix::StatusCode	ClearStickyFault_DeviceTemp (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Device temperature exceeded limit.

ctre::phoenix::StatusCode	ClearStickyFault_DeviceTemp () final
	Clear sticky fault: Device temperature exceeded limit.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage () final
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable () final
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds) final
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse () final
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_BridgeBrownout (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

ctre::phoenix::StatusCode	ClearStickyFault_BridgeBrownout () final
	Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorReset (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote sensor has reset.

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorReset () final
	Clear sticky fault: The remote sensor has reset.

ctre::phoenix::StatusCode	ClearStickyFault_MissingDifferentialFX (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

ctre::phoenix::StatusCode	ClearStickyFault_MissingDifferentialFX () final
	Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorPosOverflow (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote sensor position has overflowed.

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorPosOverflow () final
	Clear sticky fault: The remote sensor position has overflowed.

ctre::phoenix::StatusCode	ClearStickyFault_OverSupplyV (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

ctre::phoenix::StatusCode	ClearStickyFault_OverSupplyV () final
	Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

ctre::phoenix::StatusCode	ClearStickyFault_UnstableSupplyV (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Supply Voltage is unstable.

ctre::phoenix::StatusCode	ClearStickyFault_UnstableSupplyV () final
	Clear sticky fault: Supply Voltage is unstable.

ctre::phoenix::StatusCode	ClearStickyFault_ReverseHardLimit (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Reverse limit switch has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ReverseHardLimit () final
	Clear sticky fault: Reverse limit switch has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ForwardHardLimit (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Forward limit switch has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ForwardHardLimit () final
	Clear sticky fault: Forward limit switch has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ReverseSoftLimit (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Reverse soft limit has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ReverseSoftLimit () final
	Clear sticky fault: Reverse soft limit has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ForwardSoftLimit (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Forward soft limit has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_ForwardSoftLimit () final
	Clear sticky fault: Forward soft limit has been asserted.

ctre::phoenix::StatusCode	ClearStickyFault_MissingSoftLimitRemote (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote soft limit device is not present on CAN Bus.

ctre::phoenix::StatusCode	ClearStickyFault_MissingSoftLimitRemote () final
	Clear sticky fault: The remote soft limit device is not present on CAN Bus.

ctre::phoenix::StatusCode	ClearStickyFault_MissingHardLimitRemote (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote limit switch device is not present on CAN Bus.

ctre::phoenix::StatusCode	ClearStickyFault_MissingHardLimitRemote () final
	Clear sticky fault: The remote limit switch device is not present on CAN Bus.

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorDataInvalid (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote sensor's data is no longer trusted.

ctre::phoenix::StatusCode	ClearStickyFault_RemoteSensorDataInvalid () final
	Clear sticky fault: The remote sensor's data is no longer trusted.

ctre::phoenix::StatusCode	ClearStickyFault_FusedSensorOutOfSync (units::time::second_t timeoutSeconds) final
	Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.

ctre::phoenix::StatusCode	ClearStickyFault_FusedSensorOutOfSync () final
	Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.

ctre::phoenix::StatusCode	ClearStickyFault_StatorCurrLimit (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Stator current limit occured.

ctre::phoenix::StatusCode	ClearStickyFault_StatorCurrLimit () final
	Clear sticky fault: Stator current limit occured.

ctre::phoenix::StatusCode	ClearStickyFault_SupplyCurrLimit (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Supply current limit occured.

ctre::phoenix::StatusCode	ClearStickyFault_SupplyCurrLimit () final
	Clear sticky fault: Supply current limit occured.

ctre::phoenix::StatusCode	ClearStickyFault_UsingFusedCANcoderWhileUnlicensed (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Using Fused CANcoder feature while unlicensed.

ctre::phoenix::StatusCode	ClearStickyFault_UsingFusedCANcoderWhileUnlicensed () final
	Clear sticky fault: Using Fused CANcoder feature while unlicensed.

ctre::phoenix::StatusCode	ClearStickyFault_StaticBrakeDisabled (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

ctre::phoenix::StatusCode	ClearStickyFault_StaticBrakeDisabled () final
	Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

ctre::phoenix::StatusCode	ClearStickyFault_RotorFault1 (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

ctre::phoenix::StatusCode	ClearStickyFault_RotorFault1 () final
	Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

ctre::phoenix::StatusCode	ClearStickyFault_RotorFault2 (units::time::second_t timeoutSeconds) final
	Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

ctre::phoenix::StatusCode	ClearStickyFault_RotorFault2 () final
	Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, CANBus canbus)

virtual	~ParentDevice ()=0

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const final

CANBus	GetNetwork () const final

uint64_t	GetDeviceHash () const final
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< controls::ControlRequest const >	GetAppliedControl () const final
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl () final
	Get the latest applied control.

bool	HasResetOccurred () final

std::function< bool()>	GetResetOccurredChecker () const final

bool	IsConnected (units::second_t maxLatencySeconds=500_ms) final
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms) final
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms) final
	Resets the update frequencies of all the device's status signals to the defaults.

Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice
virtual	~CommonDevice ()=default

Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonTalonWithFOC
virtual	~CommonTalonWithFOC ()=default

Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonTalon
virtual	~CommonTalon ()=default

Public Member Functions inherited from ctre::phoenix6::hardware::traits::HasTalonControls
virtual	~HasTalonControls ()=default

Public Member Functions inherited from ctre::phoenix6::hardware::traits::HasTalonSignals
virtual	~HasTalonSignals ()=default

Public Member Functions inherited from ctre::phoenix6::hardware::traits::SupportsFOC
virtual	~SupportsFOC ()=default

Public Member Functions inherited from ctre::phoenix6::hardware::traits::SupportsMusic
virtual	~SupportsMusic ()=default

Static Public Member Functions
static CoreTalonFX	None ()
	Constructs a stubbed-out CoreTalonFX, where all status signals, controls, configs, etc.

Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (std::span< traits::CommonDevice *const > devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest const &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, std::function< std::map< uint16_t, std::string >()> mapFiller, bool reportOnConstruction, bool refresh)

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr controls::EmptyControl	_emptyControl {}

Detailed Description

Class description for the Talon FX integrated motor controller.

Member Typedef Documentation

◆ Configuration

using ctre::phoenix6::hardware::core::CoreTalonFX::Configuration = configs::TalonFXConfiguration

The configuration class for this device.

Constructor & Destructor Documentation

◆ CoreTalonFX() [1/2]

ctre::phoenix6::hardware::core::CoreTalonFX::CoreTalonFX	(	int	deviceId,
		CANBus	canbus = {} )

Constructs a new Talon FX motor controller object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner
canbus	The CAN bus this device is on

◆ CoreTalonFX() [2/2]

ctre::phoenix6::hardware::core::CoreTalonFX::CoreTalonFX	(	int	deviceId,
		std::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

Deprecated: Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BootDuringEnable ( )

inlinefinalvirtual

Clear sticky fault: Device boot while detecting the enable signal.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_BridgeBrownout() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BridgeBrownout ( )

inlinefinalvirtual

Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_BridgeBrownout() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_BridgeBrownout ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_DeviceTemp() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_DeviceTemp ( )

inlinefinalvirtual

Clear sticky fault: Device temperature exceeded limit.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_DeviceTemp() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_DeviceTemp ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Device temperature exceeded limit.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ForwardHardLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardHardLimit ( )

inlinefinalvirtual

Clear sticky fault: Forward limit switch has been asserted.

Output is set to neutral.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ForwardHardLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardHardLimit ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ForwardSoftLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardSoftLimit ( )

inlinefinalvirtual

Clear sticky fault: Forward soft limit has been asserted.

Output is set to neutral.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ForwardSoftLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ForwardSoftLimit ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_FusedSensorOutOfSync() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_FusedSensorOutOfSync ( )

inlinefinalvirtual

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 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_FusedSensorOutOfSync() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_FusedSensorOutOfSync ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_Hardware() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Hardware ( )

inlinefinalvirtual

Clear sticky fault: Hardware fault occurred.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Hardware fault occurred.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_MissingDifferentialFX() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingDifferentialFX ( )

inlinefinalvirtual

Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_MissingDifferentialFX() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingDifferentialFX ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: The remote Talon 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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_MissingHardLimitRemote() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingHardLimitRemote ( )

inlinefinalvirtual

Clear sticky fault: The remote limit switch device is not present on CAN Bus.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_MissingHardLimitRemote() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingHardLimitRemote ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: The remote limit switch device is not present on CAN Bus.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_MissingSoftLimitRemote() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingSoftLimitRemote ( )

inlinefinalvirtual

Clear sticky fault: The remote soft limit device is not present on CAN Bus.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_MissingSoftLimitRemote() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_MissingSoftLimitRemote ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: The remote soft limit device is not present on CAN Bus.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_OverSupplyV() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_OverSupplyV ( )

inlinefinalvirtual

Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_OverSupplyV() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_OverSupplyV ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ProcTemp() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ProcTemp ( )

inlinefinalvirtual

Clear sticky fault: Processor temperature exceeded limit.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ProcTemp() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ProcTemp ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Processor temperature exceeded limit.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RemoteSensorDataInvalid() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorDataInvalid ( )

inlinefinalvirtual

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 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RemoteSensorDataInvalid() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorDataInvalid ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RemoteSensorPosOverflow() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorPosOverflow ( )

inlinefinalvirtual

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 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RemoteSensorPosOverflow() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorPosOverflow ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RemoteSensorReset() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorReset ( )

inlinefinalvirtual

Clear sticky fault: The remote sensor has reset.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RemoteSensorReset() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RemoteSensorReset ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: The remote sensor has reset.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ReverseHardLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseHardLimit ( )

inlinefinalvirtual

Clear sticky fault: Reverse limit switch has been asserted.

Output is set to neutral.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ReverseHardLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseHardLimit ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ReverseSoftLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseSoftLimit ( )

inlinefinalvirtual

Clear sticky fault: Reverse soft limit has been asserted.

Output is set to neutral.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_ReverseSoftLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_ReverseSoftLimit ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_RotorFault1() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RotorFault1 ( )

inlinefinalvirtual

Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ ClearStickyFault_RotorFault1() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RotorFault1 ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ ClearStickyFault_RotorFault2() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RotorFault2 ( )

inlinefinalvirtual

Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ ClearStickyFault_RotorFault2() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_RotorFault2 ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ ClearStickyFault_StaticBrakeDisabled() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_StaticBrakeDisabled ( )

inlinefinalvirtual

Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_StaticBrakeDisabled() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_StaticBrakeDisabled ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_StatorCurrLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_StatorCurrLimit ( )

inlinefinalvirtual

Clear sticky fault: Stator current limit occured.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_StatorCurrLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_StatorCurrLimit ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Stator current limit occured.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_SupplyCurrLimit() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_SupplyCurrLimit ( )

inlinefinalvirtual

Clear sticky fault: Supply current limit occured.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_SupplyCurrLimit() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_SupplyCurrLimit ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Supply current limit occured.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_Undervoltage() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Undervoltage ( )

inlinefinalvirtual

Clear sticky fault: Device supply voltage dropped to near brownout levels.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UnlicensedFeatureInUse ( )

inlinefinalvirtual

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UnlicensedFeatureInUse ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_UnstableSupplyV() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UnstableSupplyV ( )

inlinefinalvirtual

Clear sticky fault: Supply Voltage is unstable.

Ensure you are using a battery and current limited power supply.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_UnstableSupplyV() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UnstableSupplyV ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_UsingFusedCANcoderWhileUnlicensed() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UsingFusedCANcoderWhileUnlicensed ( )

inlinefinalvirtual

Clear sticky fault: Using Fused CANcoder feature while unlicensed.

Device has fallen back to remote CANcoder.

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

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFault_UsingFusedCANcoderWhileUnlicensed() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFault_UsingFusedCANcoderWhileUnlicensed ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

Clear sticky fault: Using Fused CANcoder feature while unlicensed.

Device has fallen back to remote CANcoder.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFaults ( )

inlinefinalvirtual

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 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::ClearStickyFaults ( units::time::second_t timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetAcceleration()

StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAcceleration ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Acceleration Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetAncillaryDeviceTemp()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAncillaryDeviceTemp ( bool refresh = true )

finalvirtual

Temperature of device from second sensor.

Newer versions of Talon 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AncillaryDeviceTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetAppliedRotorPolarity()

StatusSignal< signals::AppliedRotorPolarityValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAppliedRotorPolarity ( bool refresh = true )

finalvirtual

The applied rotor polarity as seen from the front of the motor.

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AppliedRotorPolarity Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetBridgeOutput()

StatusSignal< signals::BridgeOutputValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetBridgeOutput ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: BridgeOutput Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopDerivativeOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopDerivativeOutput ( bool refresh = true )

finalvirtual

Closed loop derivative component.

The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopDerivativeOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopError()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopError ( bool refresh = true )

finalvirtual

The difference between target reference and current measurement.

This is the value that is treated as the error in the PID loop.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopError Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopFeedForward()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopFeedForward ( bool refresh = true )

finalvirtual

Feedforward passed by the user.

This is the general feedforward that the user provides for the closed loop.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopFeedForward Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopIntegratedOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopIntegratedOutput ( bool refresh = true )

finalvirtual

Closed loop integrated component.

The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopIntegratedOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopOutput ( bool refresh = true )

finalvirtual

Closed loop total output.

The total output of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopProportionalOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopProportionalOutput ( bool refresh = true )

finalvirtual

Closed loop proportional component.

The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopProportionalOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopReference()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopReference ( bool refresh = true )

finalvirtual

Value that the closed loop is targeting.

This is the value that the closed loop PID controller targets.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopReference Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopReferenceSlope()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopReferenceSlope ( bool refresh = true )

finalvirtual

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®.

When using differential control, this applies to the average axis.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopReferenceSlope Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetClosedLoopSlot()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopSlot ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ClosedLoopSlot Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetConfigurator() [1/2]

configs::TalonFXConfigurator & ctre::phoenix6::hardware::core::CoreTalonFX::GetConfigurator ( )

inline

Gets the configurator for this TalonFX.

Gets the configurator for this TalonFX

Returns: Configurator for this TalonFX

◆ GetConfigurator() [2/2]

configs::TalonFXConfigurator const & ctre::phoenix6::hardware::core::CoreTalonFX::GetConfigurator ( ) const

inline

Gets the configurator for this TalonFX.

Gets the configurator for this TalonFX

Returns: Configurator for this TalonFX

◆ GetConnectedMotor()

StatusSignal< signals::ConnectedMotorValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetConnectedMotor ( bool refresh = true )

finalvirtual

The type of motor attached to the Talon.

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ConnectedMotor Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetControlMode()

StatusSignal< signals::ControlModeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetControlMode ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ControlMode Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDeviceEnable()

StatusSignal< signals::DeviceEnableValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDeviceEnable ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DeviceEnable Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDeviceTemp()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDeviceTemp ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DeviceTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialAveragePosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialAveragePosition ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialAveragePosition Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialAverageVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialAverageVelocity ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialAverageVelocity Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopDerivativeOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopDerivativeOutput ( bool refresh = true )

finalvirtual

Differential closed loop derivative component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopDerivativeOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopError()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopError ( bool refresh = true )

finalvirtual

The difference between target differential reference and current measurement.

This is the value that is treated as the error in the differential PID loop (on the difference axis).

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopError Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopFeedForward()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopFeedForward ( bool refresh = true )

finalvirtual

Differential Feedforward passed by the user.

This is the general feedforward that the user provides for the differential closed loop (on the difference axis).

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopFeedForward Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopIntegratedOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopIntegratedOutput ( bool refresh = true )

finalvirtual

Differential closed loop integrated component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopIntegratedOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopOutput ( bool refresh = true )

finalvirtual

Differential closed loop total output.

The total output of the differential closed loop output (on the difference axis).

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopProportionalOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopProportionalOutput ( bool refresh = true )

finalvirtual

Differential closed loop proportional component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopProportionalOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopReference()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopReference ( bool refresh = true )

finalvirtual

Value that the differential closed loop is targeting.

This is the value that the differential closed loop PID controller targets (on the difference axis).

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopReference Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopReferenceSlope()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopReferenceSlope ( bool refresh = true )

finalvirtual

Derivative of the target that the differential closed loop is targeting.

This is the change in the closed loop reference (on the difference axis). 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopReferenceSlope Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialClosedLoopSlot()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopSlot ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialClosedLoopSlot Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialControlMode()

StatusSignal< signals::DifferentialControlModeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialControlMode ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialControlMode Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialDifferencePosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialDifferencePosition ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialDifferencePosition Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialDifferenceVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialDifferenceVelocity ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialDifferenceVelocity Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDifferentialOutput()

StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialOutput ( bool refresh = true )

finalvirtual

The calculated motor output for differential followers.

This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type.

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DifferentialOutput Status Signal object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetDutyCycle()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDutyCycle ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: DutyCycle Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_BootDuringEnable ( bool refresh = true )

finalvirtual

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootDuringEnable Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_BridgeBrownout()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_BridgeBrownout ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BridgeBrownout Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_DeviceTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_DeviceTemp ( bool refresh = true )

finalvirtual

Device temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_DeviceTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_ForwardHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ForwardHardLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_ForwardHardLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_ForwardSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ForwardSoftLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_ForwardSoftLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_FusedSensorOutOfSync()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_FusedSensorOutOfSync ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_FusedSensorOutOfSync Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_Hardware ( bool refresh = true )

finalvirtual

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_Hardware Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_MissingDifferentialFX()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_MissingDifferentialFX ( bool refresh = true )

finalvirtual

The remote Talon 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_MissingDifferentialFX Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_MissingHardLimitRemote()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_MissingHardLimitRemote ( bool refresh = true )

finalvirtual

The remote limit switch device is not present on CAN Bus.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_MissingHardLimitRemote Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_MissingSoftLimitRemote()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_MissingSoftLimitRemote ( bool refresh = true )

finalvirtual

The remote soft limit device is not present on CAN Bus.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_MissingSoftLimitRemote Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_OverSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_OverSupplyV ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_OverSupplyV Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_ProcTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ProcTemp ( bool refresh = true )

finalvirtual

Processor temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_ProcTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_RemoteSensorDataInvalid()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorDataInvalid ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_RemoteSensorDataInvalid Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_RemoteSensorPosOverflow()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorPosOverflow ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_RemoteSensorPosOverflow Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_RemoteSensorReset()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorReset ( bool refresh = true )

finalvirtual

The remote sensor has reset.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_RemoteSensorReset Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_ReverseHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ReverseHardLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_ReverseHardLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_ReverseSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ReverseSoftLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_ReverseSoftLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_RotorFault1()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RotorFault1 ( bool refresh = true )

finalvirtual

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_RotorFault1 Status Signal Object

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ GetFault_RotorFault2()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RotorFault2 ( bool refresh = true )

finalvirtual

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_RotorFault2 Status Signal Object

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ GetFault_StaticBrakeDisabled()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_StaticBrakeDisabled ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_StaticBrakeDisabled Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_StatorCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_StatorCurrLimit ( bool refresh = true )

finalvirtual

Stator current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_StatorCurrLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_SupplyCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_SupplyCurrLimit ( bool refresh = true )

finalvirtual

Supply current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_SupplyCurrLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_Undervoltage ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_Undervoltage Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UnlicensedFeatureInUse ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_UnlicensedFeatureInUse Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_UnstableSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UnstableSupplyV ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_UnstableSupplyV Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFault_UsingFusedCANcoderWhileUnlicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UsingFusedCANcoderWhileUnlicensed ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFaultField ( bool refresh = true )

finalvirtual

Integer representing all 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: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: FaultField Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetForwardLimit()

StatusSignal< signals::ForwardLimitValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetForwardLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ForwardLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetIsProLicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetIsProLicensed ( bool refresh = true )

finalvirtual

Whether the device is Phoenix Pro licensed.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: IsProLicensed Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotionMagicAtTarget()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotionMagicAtTarget ( bool refresh = true )

finalvirtual

Check if the Motion Magic® profile has reached the target.

This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0.

Default Value: False

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotionMagicAtTarget Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotionMagicIsRunning()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotionMagicIsRunning ( bool refresh = true )

finalvirtual

Check if Motion Magic® is running.

This is equivalent to checking that the reported control mode is a Motion Magic® based mode.

Default Value: False

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotionMagicIsRunning Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotorKT()

StatusSignal< ctre::unit::newton_meters_per_ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorKT ( bool refresh = true )

finalvirtual

The torque constant (K_T) of the motor.

Minimum Value: 0.0
Maximum Value: 0.025500000000000002
Default Value: 0
Units: Nm/A

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotorKT Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotorKV()

StatusSignal< ctre::unit::rpm_per_volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorKV ( bool refresh = true )

finalvirtual

The velocity constant (K_V) of the motor.

Minimum Value: 0.0
Maximum Value: 2047.0
Default Value: 0
Units: RPM/V

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotorKV Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotorOutputStatus()

StatusSignal< signals::MotorOutputStatusValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorOutputStatus ( bool refresh = true )

finalvirtual

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.

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotorOutputStatus Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotorStallCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorStallCurrent ( bool refresh = true )

finalvirtual

The stall current of the motor at 12 V output.

Minimum Value: 0.0
Maximum Value: 1023.0
Default Value: 0
Units: A

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotorStallCurrent Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetMotorVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorVoltage ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MotorVoltage Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetPosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetPosition ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Position Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetProcessorTemp()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetProcessorTemp ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ProcessorTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetReverseLimit()

StatusSignal< signals::ReverseLimitValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetReverseLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: ReverseLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetRobotEnable()

StatusSignal< signals::RobotEnableValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRobotEnable ( bool refresh = true )

finalvirtual

Indicates if the robot is 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: RobotEnable Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetRotorPosition()

StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRotorPosition ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: RotorPosition Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetRotorVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRotorVelocity ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: RotorVelocity Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetSimState()

sim::TalonFXSimState & ctre::phoenix6::hardware::core::CoreTalonFX::GetSimState ( )

inline

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

◆ GetStatorCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStatorCurrent ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StatorCurrent Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_BootDuringEnable ( bool refresh = true )

finalvirtual

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootDuringEnable Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_BridgeBrownout()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_BridgeBrownout ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BridgeBrownout Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_DeviceTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_DeviceTemp ( bool refresh = true )

finalvirtual

Device temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_DeviceTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_ForwardHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ForwardHardLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_ForwardHardLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_ForwardSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ForwardSoftLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_ForwardSoftLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_FusedSensorOutOfSync()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_FusedSensorOutOfSync ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_FusedSensorOutOfSync Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_Hardware ( bool refresh = true )

finalvirtual

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_Hardware Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_MissingDifferentialFX()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_MissingDifferentialFX ( bool refresh = true )

finalvirtual

The remote Talon 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_MissingDifferentialFX Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_MissingHardLimitRemote()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_MissingHardLimitRemote ( bool refresh = true )

finalvirtual

The remote limit switch device is not present on CAN Bus.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_MissingHardLimitRemote Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_MissingSoftLimitRemote()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_MissingSoftLimitRemote ( bool refresh = true )

finalvirtual

The remote soft limit device is not present on CAN Bus.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_MissingSoftLimitRemote Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_OverSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_OverSupplyV ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_OverSupplyV Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_ProcTemp()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ProcTemp ( bool refresh = true )

finalvirtual

Processor temperature exceeded limit.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_ProcTemp Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_RemoteSensorDataInvalid()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorDataInvalid ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_RemoteSensorDataInvalid Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_RemoteSensorPosOverflow()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorPosOverflow ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_RemoteSensorPosOverflow Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_RemoteSensorReset()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorReset ( bool refresh = true )

finalvirtual

The remote sensor has reset.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_RemoteSensorReset Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_ReverseHardLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ReverseHardLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_ReverseHardLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_ReverseSoftLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ReverseSoftLimit ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_ReverseSoftLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_RotorFault1()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RotorFault1 ( bool refresh = true )

finalvirtual

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_RotorFault1 Status Signal Object

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ GetStickyFault_RotorFault2()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RotorFault2 ( bool refresh = true )

finalvirtual

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion.

If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_RotorFault2 Status Signal Object

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

◆ GetStickyFault_StaticBrakeDisabled()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_StaticBrakeDisabled ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_StaticBrakeDisabled Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_StatorCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_StatorCurrLimit ( bool refresh = true )

finalvirtual

Stator current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_StatorCurrLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_SupplyCurrLimit()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_SupplyCurrLimit ( bool refresh = true )

finalvirtual

Supply current limit occured.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_SupplyCurrLimit Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_Undervoltage ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_Undervoltage Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UnlicensedFeatureInUse ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_UnlicensedFeatureInUse Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_UnstableSupplyV()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UnstableSupplyV ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_UnstableSupplyV Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFault_UsingFusedCANcoderWhileUnlicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UsingFusedCANcoderWhileUnlicensed ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFaultField ( bool refresh = true )

finalvirtual

Integer representing all (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: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFaultField Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetSupplyCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetSupplyCurrent ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: SupplyCurrent Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetSupplyVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetSupplyVoltage ( bool refresh = true )

finalvirtual

Measured supply voltage to the device.

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: SupplyVoltage Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetTorqueCurrent()

StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetTorqueCurrent ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: TorqueCurrent Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetVelocity()

StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVelocity ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Velocity Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersion ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Version Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionBugfix ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionBugfix Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionBuild ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionBuild Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionMajor ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionMajor Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionMinor ( bool refresh = true )

finalvirtual

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionMinor Status Signal Object

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ None()

static CoreTalonFX ctre::phoenix6::hardware::core::CoreTalonFX::None ( )

inlinestatic

Constructs a stubbed-out CoreTalonFX, where all status signals, controls, configs, etc.

perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.

Returns: Stubbed-out CoreTalonFX

◆ SetControl() [1/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::CoastOut const & request )

finalvirtual

Request coast neutral output of actuator.

The bridge is disabled and the rotor is allowed to coast.

CoastOut Parameters:
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [2/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Open const & request )

finalvirtual

Differential control with duty cycle average target and duty cycle difference target.

Diff_DutyCycleOut_Open Parameters:
- AverageRequest: Average DutyCycleOut request of the mechanism.
- DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [3/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [4/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_DutyCycleOut_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [5/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Open const & request )

finalvirtual

Differential control with Motion Magic® average target and duty cycle difference target.

Diff_MotionMagicDutyCycle_Open Parameters:
- AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
- DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [6/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Position const & request )

finalvirtual

Differential control with Motion Magic® average target and position difference target using duty cycle 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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [7/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Velocity const & request )

finalvirtual

Differential control with Motion Magic® average target and velocity difference target using duty cycle 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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [8/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoDutyCycle_Open const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and duty cycle difference target.

Diff_MotionMagicExpoDutyCycle_Open Parameters:
- AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
- DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [9/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoDutyCycle_Position const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and position difference target using duty cycle control.

Diff_MotionMagicExpoDutyCycle_Position Parameters:
- AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [10/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoDutyCycle_Velocity const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and velocity difference target using duty cycle control.

Diff_MotionMagicExpoDutyCycle_Velocity Parameters:
- AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [11/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoTorqueCurrentFOC_Open const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and torque current difference target.

Diff_MotionMagicExpoTorqueCurrentFOC_Open Parameters:
- AverageRequest: Average MotionMagicExpoTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential TorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [12/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoTorqueCurrentFOC_Position const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and position difference target using torque current control.

Diff_MotionMagicExpoTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average MotionMagicExpoTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [13/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoTorqueCurrentFOC_Velocity const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and velocity difference target using torque current control.

Diff_MotionMagicExpoTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average MotionMagicExpoTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [14/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoVoltage_Open const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and voltage difference target.

Diff_MotionMagicExpoVoltage_Open Parameters:
- AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
- DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [15/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoVoltage_Position const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and position difference target using voltage control.

Diff_MotionMagicExpoVoltage_Position Parameters:
- AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [16/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicExpoVoltage_Velocity const & request )

finalvirtual

Differential control with Motion Magic® Expo average target and velocity difference target using voltage control.

Diff_MotionMagicExpoVoltage_Velocity Parameters:
- AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [17/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Open const & request )

finalvirtual

Differential control with Motion Magic® average target and torque current difference target.

Diff_MotionMagicTorqueCurrentFOC_Open Parameters:
- AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential TorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [18/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [19/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [20/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityDutyCycle_Open const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and duty cycle difference target.

Diff_MotionMagicVelocityDutyCycle_Open Parameters:
- AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
- DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [21/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityDutyCycle_Position const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and position difference target using duty cycle control.

Diff_MotionMagicVelocityDutyCycle_Position Parameters:
- AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
- DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [22/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityDutyCycle_Velocity const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and velocity difference target using duty cycle control.

Diff_MotionMagicVelocityDutyCycle_Velocity Parameters:
- AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
- DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [23/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityTorqueCurrentFOC_Open const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and torque current difference target.

Diff_MotionMagicVelocityTorqueCurrentFOC_Open Parameters:
- AverageRequest: Average MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential TorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [24/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityTorqueCurrentFOC_Position const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and position difference target using torque current control.

Diff_MotionMagicVelocityTorqueCurrentFOC_Position Parameters:
- AverageRequest: Average MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [25/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and velocity difference target using torque current control.

Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity Parameters:
- AverageRequest: Average MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [26/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityVoltage_Open const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and voltage difference target.

Diff_MotionMagicVelocityVoltage_Open Parameters:
- AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
- DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [27/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityVoltage_Position const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and position difference target using voltage control.

Diff_MotionMagicVelocityVoltage_Position Parameters:
- AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
- DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [28/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVelocityVoltage_Velocity const & request )

finalvirtual

Differential control with Motion Magic® Velocity average target and velocity difference target using voltage control.

Diff_MotionMagicVelocityVoltage_Velocity Parameters:
- AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
- DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [29/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Open const & request )

finalvirtual

Differential control with Motion Magic® average target and voltage difference target.

Diff_MotionMagicVoltage_Open Parameters:
- AverageRequest: Average MotionMagicVoltage request of the mechanism.
- DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [30/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [31/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_MotionMagicVoltage_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [32/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Open const & request )

finalvirtual

Differential control with position average target and duty cycle difference target.

Diff_PositionDutyCycle_Open Parameters:
- AverageRequest: Average PositionDutyCycle request of the mechanism.
- DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [33/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Position const & request )

finalvirtual

Differential control with position average target and position difference target using duty cycle 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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [34/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionDutyCycle_Velocity const & request )

finalvirtual

Differential control with position average target and velocity difference target using duty cycle 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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [35/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Open const & request )

finalvirtual

Differential control with position average target and torque current difference target.

Diff_PositionTorqueCurrentFOC_Open Parameters:
- AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential TorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [36/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [37/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionTorqueCurrentFOC_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [38/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Open const & request )

finalvirtual

Differential control with position average target and voltage difference target.

Diff_PositionVoltage_Open Parameters:
- AverageRequest: Average PositionVoltage request of the mechanism.
- DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [39/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [40/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_PositionVoltage_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [41/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Open const & request )

finalvirtual

Differential control with torque current average target and torque current difference target.

Diff_TorqueCurrentFOC_Open Parameters:
- AverageRequest: Average TorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential TorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [42/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [43/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_TorqueCurrentFOC_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [44/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Open const & request )

finalvirtual

Differential control with velocity average target and duty cycle difference target.

Diff_VelocityDutyCycle_Open Parameters:
- AverageRequest: Average VelocityDutyCYcle request of the mechanism.
- DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [45/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Position const & request )

finalvirtual

Differential control with velocity average target and position difference target using duty cycle 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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [46/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityDutyCycle_Velocity const & request )

finalvirtual

Differential control with velocity average target and velocity difference target using duty cycle 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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [47/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Open const & request )

finalvirtual

Differential control with velocity average target and torque current difference target.

Diff_VelocityTorqueCurrentFOC_Open Parameters:
- AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
- DifferentialRequest: Differential TorqueCurrentFOC request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [48/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [49/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [50/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Open const & request )

finalvirtual

Differential control with velocity average target and voltage difference target.

Diff_VelocityVoltage_Open Parameters:
- AverageRequest: Average VelocityVoltage request of the mechanism.
- DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [51/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [52/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VelocityVoltage_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [53/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Open const & request )

finalvirtual

Differential control with voltage average target and voltage difference target.

Diff_VoltageOut_Open Parameters:
- AverageRequest: Average VoltageOut request of the mechanism.
- DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [54/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Position const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [55/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::compound::Diff_VoltageOut_Velocity const & request )

finalvirtual

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: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [56/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::ControlRequest const & request )

finalvirtual

Control device 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

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [57/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialDutyCycle const & request )

finalvirtual

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:
- AverageOutput: Proportion of supply voltage to apply on the Average axis 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [58/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialFollower const & request )

finalvirtual

Follow the differential motor output of another Talon.

If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction either matches leader's configured direction or opposes it based on the MotorAlignment.

The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

DifferentialFollower Parameters:
- LeaderID: Device ID of the differential leader to follow.
- MotorAlignment: Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [59/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicDutyCycle const & request )

finalvirtual

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 (optional) Jerk 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:
- AveragePosition: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [60/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicExpoDutyCycle const & request )

finalvirtual

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

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. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

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.

DifferentialMotionMagicExpoDutyCycle Parameters:
- AveragePosition: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [61/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicExpoVoltage const & request )

finalvirtual

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

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. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

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.

DifferentialMotionMagicExpoVoltage Parameters:
- AveragePosition: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [62/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicVelocityDutyCycle const & request )

finalvirtual

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.

This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are 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.

DifferentialMotionMagicVelocityDutyCycle Parameters:
- AverageVelocity: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [63/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicVelocityVoltage const & request )

finalvirtual

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.

This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are 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.

DifferentialMotionMagicVelocityVoltage Parameters:
- AverageVelocity: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [64/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialMotionMagicVoltage const & request )

finalvirtual

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 (optional) Jerk 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:
- AveragePosition: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [65/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialPositionDutyCycle const & request )

finalvirtual

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:
- AveragePosition: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [66/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialPositionVoltage const & request )

finalvirtual

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:
- AveragePosition: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [67/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialStrictFollower const & request )

finalvirtual

Follow the differential motor output of another Talon while ignoring the leader's invert setting.

If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use DifferentialFollower instead.

The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

DifferentialStrictFollower Parameters:
- LeaderID: Device ID of the differential leader to follow.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [68/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVelocityDutyCycle const & request )

finalvirtual

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:
- AverageVelocity: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [69/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVelocityVoltage const & request )

finalvirtual

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:
- AverageVelocity: 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- AverageSlot: Select which gains are applied to the average 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [70/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DifferentialVoltage const & request )

finalvirtual

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:
- AverageOutput: Voltage to attempt to drive at on the Average axis.
- 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% on supported devices (see hardware::traits::SupportsFOC). 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [71/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DutyCycleOut const & request )

finalvirtual

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% on supported devices (see hardware::traits::SupportsFOC). 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [72/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicDutyCycle const & request )

finalvirtual

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. 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.
  
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [73/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicExpoDutyCycle const & request )

finalvirtual

Requests Motion Magic® Expo to target a final position using an exponential motion profile.

This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the 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.

DynamicMotionMagicExpoDutyCycle Parameters:
- Position: Position to drive toward in rotations.
- kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.
  
  This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
- kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².
  
  This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [74/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicExpoTorqueCurrentFOC const & request )

finalvirtual

Requests Motion Magic® Expo to target a final position using an exponential motion profile.

This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the 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.

DynamicMotionMagicExpoTorqueCurrentFOC Parameters:
- Position: Position to drive toward in rotations.
- kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.
  
  This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
- kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².
  
  This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
- FeedForward: Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [75/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicExpoVoltage const & request )

finalvirtual

Requests Motion Magic® Expo to target a final position using an exponential motion profile.

This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the 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.

DynamicMotionMagicExpoVoltage Parameters:
- Position: Position to drive toward in rotations.
- kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.
  
  This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
- kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².
  
  This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
- Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [76/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicTorqueCurrentFOC const & request )

finalvirtual

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. 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.
  
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
- FeedForward: Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [77/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::DynamicMotionMagicVoltage const & request )

finalvirtual

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. 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.
  
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
- EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [78/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::EmptyControl const & request )

finalvirtual

Apply a generic empty control used to do nothing.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [79/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::Follower const & request )

finalvirtual

Follow the motor output of another Talon.

The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction either matches the leader's configured direction or opposes it based on the MotorAlignment.

The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

Follower Parameters:
- LeaderID: Device ID of the leader to follow.
- MotorAlignment: Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [80/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicDutyCycle const & request )

finalvirtual

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 (optional) Jerk 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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [81/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoDutyCycle const & request )

finalvirtual

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. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [82/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoTorqueCurrentFOC const & request )

finalvirtual

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. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

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. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [83/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicExpoVoltage const & request )

finalvirtual

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. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [84/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicTorqueCurrentFOC const & request )

finalvirtual

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 (optional) Jerk 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. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [85/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityDutyCycle const & request )

finalvirtual

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 (optional) Jerk. 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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [86/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityTorqueCurrentFOC const & request )

finalvirtual

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 (optional) Jerk. 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.
- FeedForward: Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [87/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVelocityVoltage const & request )

finalvirtual

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 (optional) Jerk. 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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [88/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MotionMagicVoltage const & request )

finalvirtual

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 (optional) Jerk 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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [89/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::MusicTone const & request )

finalvirtual

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 10-20000 Hz. Any nonzero frequency less than 10 Hz will be capped to 10 Hz. Any frequency above 20 kHz will be capped to 20 kHz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [90/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::NeutralOut const & request )

finalvirtual

Request neutral output of actuator.

The applied brake type is determined by the NeutralMode configuration.

NeutralOut Parameters:
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [91/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionDutyCycle const & request )

finalvirtual

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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [92/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionTorqueCurrentFOC const & request )

finalvirtual

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. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [93/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::PositionVoltage const & request )

finalvirtual

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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [94/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::StaticBrake const & request )

finalvirtual

Applies full neutral-brake by shorting motor leads together.

StaticBrake Parameters:
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [95/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::StrictFollower const & request )

finalvirtual

Follow the motor output of another Talon while ignoring the leader's invert setting.

The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

StrictFollower Parameters:
- LeaderID: Device ID of the leader to follow.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [96/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::TorqueCurrentFOC const & request )

finalvirtual

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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [97/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityDutyCycle const & request )

finalvirtual

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% on supported devices (see hardware::traits::SupportsFOC). 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. This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [98/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityTorqueCurrentFOC const & request )

finalvirtual

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. This is added to the output of the onboard feedforward terms.
  
  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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

◆ SetControl() [99/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VelocityVoltage const & request )

finalvirtual

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% on supported devices (see hardware::traits::SupportsFOC). 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 This is added to the output of the onboard feedforward terms.
- 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetControl() [100/100]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl ( controls::VoltageOut const & request )

finalvirtual

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% on supported devices (see hardware::traits::SupportsFOC). 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.
- IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
  
  This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.
  
  The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.
- IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.
  
  This can be useful when calibrating the zero point of a mechanism such as an elevator.
  
  The software limit faults will still report the values of the software limits regardless of this parameter.
- UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.
  
  This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request Control object to request of the device

Returns: Status code of the request

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

◆ SetPosition() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetPosition ( units::angle::turn_t newValue )

inlinefinalvirtual

Sets the mechanism position of the device in mechanism rotations.

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

Parameters

newValue Value to set to. Units are in rotations.

Returns: StatusCode of the set command

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

◆ SetPosition() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetPosition	(	units::angle::turn_t	newValue,
		units::time::second_t	timeoutSeconds )

inlinefinalvirtual

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

Implements ctre::phoenix6::hardware::traits::HasTalonSignals.

The documentation for this class was generated from the following file:

ctre/phoenix6/core/CoreTalonFX.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Configuration

Constructor & Destructor Documentation

◆ CoreTalonFX() [1/2]

◆ CoreTalonFX() [2/2]

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

◆ ClearStickyFault_BootDuringEnable() [2/2]

◆ ClearStickyFault_BridgeBrownout() [1/2]

◆ ClearStickyFault_BridgeBrownout() [2/2]

◆ ClearStickyFault_DeviceTemp() [1/2]

◆ ClearStickyFault_DeviceTemp() [2/2]

◆ ClearStickyFault_ForwardHardLimit() [1/2]

◆ ClearStickyFault_ForwardHardLimit() [2/2]

◆ ClearStickyFault_ForwardSoftLimit() [1/2]

◆ ClearStickyFault_ForwardSoftLimit() [2/2]

◆ ClearStickyFault_FusedSensorOutOfSync() [1/2]

◆ ClearStickyFault_FusedSensorOutOfSync() [2/2]

◆ ClearStickyFault_Hardware() [1/2]

◆ ClearStickyFault_Hardware() [2/2]

◆ ClearStickyFault_MissingDifferentialFX() [1/2]

◆ ClearStickyFault_MissingDifferentialFX() [2/2]

◆ ClearStickyFault_MissingHardLimitRemote() [1/2]

◆ ClearStickyFault_MissingHardLimitRemote() [2/2]

◆ ClearStickyFault_MissingSoftLimitRemote() [1/2]

◆ ClearStickyFault_MissingSoftLimitRemote() [2/2]

◆ ClearStickyFault_OverSupplyV() [1/2]

◆ ClearStickyFault_OverSupplyV() [2/2]

◆ ClearStickyFault_ProcTemp() [1/2]

◆ ClearStickyFault_ProcTemp() [2/2]

◆ ClearStickyFault_RemoteSensorDataInvalid() [1/2]

◆ ClearStickyFault_RemoteSensorDataInvalid() [2/2]

◆ ClearStickyFault_RemoteSensorPosOverflow() [1/2]

◆ ClearStickyFault_RemoteSensorPosOverflow() [2/2]

◆ ClearStickyFault_RemoteSensorReset() [1/2]

◆ ClearStickyFault_RemoteSensorReset() [2/2]

◆ ClearStickyFault_ReverseHardLimit() [1/2]

◆ ClearStickyFault_ReverseHardLimit() [2/2]

◆ ClearStickyFault_ReverseSoftLimit() [1/2]

◆ ClearStickyFault_ReverseSoftLimit() [2/2]

◆ ClearStickyFault_RotorFault1() [1/2]

◆ ClearStickyFault_RotorFault1() [2/2]

◆ ClearStickyFault_RotorFault2() [1/2]

◆ ClearStickyFault_RotorFault2() [2/2]

◆ ClearStickyFault_StaticBrakeDisabled() [1/2]

◆ ClearStickyFault_StaticBrakeDisabled() [2/2]

◆ ClearStickyFault_StatorCurrLimit() [1/2]

◆ ClearStickyFault_StatorCurrLimit() [2/2]

◆ ClearStickyFault_SupplyCurrLimit() [1/2]

◆ ClearStickyFault_SupplyCurrLimit() [2/2]

◆ ClearStickyFault_Undervoltage() [1/2]

◆ ClearStickyFault_Undervoltage() [2/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

◆ ClearStickyFault_UnstableSupplyV() [1/2]

◆ ClearStickyFault_UnstableSupplyV() [2/2]

◆ ClearStickyFault_UsingFusedCANcoderWhileUnlicensed() [1/2]

◆ ClearStickyFault_UsingFusedCANcoderWhileUnlicensed() [2/2]

◆ ClearStickyFaults() [1/2]

◆ ClearStickyFaults() [2/2]

◆ GetAcceleration()

◆ GetAncillaryDeviceTemp()

◆ GetAppliedRotorPolarity()

◆ GetBridgeOutput()

◆ GetClosedLoopDerivativeOutput()

◆ GetClosedLoopError()

◆ GetClosedLoopFeedForward()

◆ GetClosedLoopIntegratedOutput()

◆ GetClosedLoopOutput()

◆ GetClosedLoopProportionalOutput()

◆ GetClosedLoopReference()

◆ GetClosedLoopReferenceSlope()

◆ GetClosedLoopSlot()

◆ GetConfigurator() [1/2]

◆ GetConfigurator() [2/2]