Contains all control functions available for motors that support playing music. More...
#include <ctre/phoenix6/hardware/traits/SupportsMusic.hpp>
Public Member Functions | |
| virtual | ~SupportsMusic ()=default |
| virtual ctre::phoenix::StatusCode | SetControl (controls::MusicTone const &request)=0 |
| Plays a single tone at the user specified frequency. | |
| virtual ctre::phoenix::StatusCode | SetControl (controls::EmptyControl const &request)=0 |
| Apply a generic empty control used to do nothing. | |
| virtual ctre::phoenix::StatusCode | SetControl (controls::ControlRequest const &request)=0 |
| Control device with generic control request object. | |
 Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice | |
| virtual | ~CommonDevice ()=default |
| virtual int | GetDeviceID () const =0 |
| virtual CANBus | GetNetwork () const =0 |
| virtual uint64_t | GetDeviceHash () const =0 |
| Gets a number unique for this device's hardware type and ID. | |
| virtual std::shared_ptr< controls::ControlRequest const > | GetAppliedControl () const =0 |
| Get the latest applied control. | |
| virtual std::shared_ptr< controls::ControlRequest > | GetAppliedControl ()=0 |
| Get the latest applied control. | |
| virtual bool | HasResetOccurred ()=0 |
| virtual std::function< bool()> | GetResetOccurredChecker () const =0 |
| virtual bool | IsConnected (units::second_t maxLatencySeconds=500_ms)=0 |
| Returns whether the device is still connected to the robot. | |
| virtual ctre::phoenix::StatusCode | OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms)=0 |
| Optimizes the device's bus utilization by reducing the update frequencies of its status signals. | |
| virtual ctre::phoenix::StatusCode | ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)=0 |
| Resets the update frequencies of all the device's status signals to the defaults. | |
Detailed Description
Contains all control functions available for motors that support playing music.
Constructor & Destructor Documentation
◆ ~SupportsMusic()
|
virtualdefault |
Member Function Documentation
◆ SetControl() [1/3]
|
pure virtual |
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
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, and ctre::phoenix6::hardware::traits::CommonTalonWithFOC.
◆ SetControl() [2/3]
|
pure virtual |
Apply a generic empty control used to do nothing.
- Parameters
-
request Control object to request of the device
- Returns
- Status code of the request
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, and ctre::phoenix6::hardware::traits::CommonTalonWithFOC.
◆ SetControl() [3/3]
|
pure virtual |
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
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, and ctre::phoenix6::hardware::traits::CommonTalonWithFOC.
The documentation for this class was generated from the following file:
- ctre/phoenix6/hardware/traits/SupportsMusic.hpp
