Package com.ctre.phoenix6.configs

Class TalonFXConfiguration

java.lang.Object

com.ctre.phoenix6.configs.TalonFXConfiguration

All Implemented Interfaces:

ParentConfiguration, ISerializable, Cloneable

public class TalonFXConfiguration
extends Object
implements ParentConfiguration, Cloneable

Class description for the Talon FX integrated motor controller. This handles applying and refreshing the configurations for the TalonFX.

Field Summary

Fields

Modifier and Type	Field	Description
AudioConfigs	Audio	Configs that affect audible components of the device.
ClosedLoopGeneralConfigs	ClosedLoopGeneral	Configs that affect general behavior during closed-looping.
ClosedLoopRampsConfigs	ClosedLoopRamps	Configs that affect the closed-loop control of this motor controller.
CurrentLimitsConfigs	CurrentLimits	Configs that directly affect current limiting features.
CustomParamsConfigs	CustomParams	Custom Params.
DifferentialConstantsConfigs	DifferentialConstants	Configs related to constants used for differential control of a mechanism.
DifferentialSensorsConfigs	DifferentialSensors	Configs related to sensors used for differential control of a mechanism.
FeedbackConfigs	Feedback	Configs that affect the feedback of this motor controller.
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
HardwareLimitSwitchConfigs	HardwareLimitSwitch	Configs that change how the motor controller behaves under different limit switch states.
MotionMagicConfigs	MotionMagic	Configs for Motion Magic®.
MotorOutputConfigs	MotorOutput	Configs that directly affect motor output.
OpenLoopRampsConfigs	OpenLoopRamps	Configs that affect the open-loop control of this motor controller.
Slot0Configs	Slot0	Gains for the specified slot.
Slot1Configs	Slot1	Gains for the specified slot.
Slot2Configs	Slot2	Gains for the specified slot.
SoftwareLimitSwitchConfigs	SoftwareLimitSwitch	Configs that affect how software-limit switches behave.
TorqueCurrentConfigs	TorqueCurrent	Configs that affect Torque Current control types.
VoltageConfigs	Voltage	Configs that affect Voltage control types.

Constructor Summary

Constructors

Constructor	Description
TalonFXConfiguration()

Method Summary

Modifier and Type	Method	Description
TalonFXConfiguration	clone()
final StatusCode	deserialize(String to_deserialize)	Take a string and deserialize it to this configuration.
final String	serialize()	Get the serialized form of this configuration.
String	toString()
final TalonFXConfiguration	withAudio(AudioConfigs newAudio)	Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)	Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)	Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withCurrentLimits(CurrentLimitsConfigs newCurrentLimits)	Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withCustomParams(CustomParamsConfigs newCustomParams)	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)	Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)	Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withFeedback(FeedbackConfigs newFeedback)	Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)	Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withMotionMagic(MotionMagicConfigs newMotionMagic)	Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withMotorOutput(MotorOutputConfigs newMotorOutput)	Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)	Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withSlot0(Slot0Configs newSlot0)	Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withSlot1(Slot1Configs newSlot1)	Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withSlot2(Slot2Configs newSlot2)	Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)	Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withTorqueCurrent(TorqueCurrentConfigs newTorqueCurrent)	Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
final TalonFXConfiguration	withVoltage(VoltageConfigs newVoltage)	Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

MotorOutput

public MotorOutputConfigs MotorOutput

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameter list:

• MotorOutputConfigs.Inverted
• MotorOutputConfigs.NeutralMode
• MotorOutputConfigs.DutyCycleNeutralDeadband
• MotorOutputConfigs.PeakForwardDutyCycle
• MotorOutputConfigs.PeakReverseDutyCycle
• MotorOutputConfigs.ControlTimesyncFreqHz

CurrentLimits

public CurrentLimitsConfigs CurrentLimits

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameter list:

• CurrentLimitsConfigs.StatorCurrentLimit
• CurrentLimitsConfigs.StatorCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLimit
• CurrentLimitsConfigs.SupplyCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLowerLimit
• CurrentLimitsConfigs.SupplyCurrentLowerTime

Voltage

public VoltageConfigs Voltage

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

• VoltageConfigs.SupplyVoltageTimeConstant
• VoltageConfigs.PeakForwardVoltage
• VoltageConfigs.PeakReverseVoltage

TorqueCurrent

public TorqueCurrentConfigs TorqueCurrent

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Parameter list:

• TorqueCurrentConfigs.PeakForwardTorqueCurrent
• TorqueCurrentConfigs.PeakReverseTorqueCurrent
• TorqueCurrentConfigs.TorqueNeutralDeadband

Feedback

public FeedbackConfigs Feedback

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

Parameter list:

• FeedbackConfigs.FeedbackRotorOffset
• FeedbackConfigs.SensorToMechanismRatio
• FeedbackConfigs.RotorToSensorRatio
• FeedbackConfigs.FeedbackSensorSource
• FeedbackConfigs.FeedbackRemoteSensorID
• FeedbackConfigs.VelocityFilterTimeConstant

DifferentialSensors

public DifferentialSensorsConfigs DifferentialSensors

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

Parameter list:

• DifferentialSensorsConfigs.DifferentialSensorSource
• DifferentialSensorsConfigs.DifferentialTalonFXSensorID
• DifferentialSensorsConfigs.DifferentialRemoteSensorID
• DifferentialSensorsConfigs.SensorToDifferentialRatio

DifferentialConstants

public DifferentialConstantsConfigs DifferentialConstants

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

Parameter list:

• DifferentialConstantsConfigs.PeakDifferentialDutyCycle
• DifferentialConstantsConfigs.PeakDifferentialVoltage
• DifferentialConstantsConfigs.PeakDifferentialTorqueCurrent

OpenLoopRamps

public OpenLoopRampsConfigs OpenLoopRamps

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameter list:

• OpenLoopRampsConfigs.DutyCycleOpenLoopRampPeriod
• OpenLoopRampsConfigs.VoltageOpenLoopRampPeriod
• OpenLoopRampsConfigs.TorqueOpenLoopRampPeriod

ClosedLoopRamps

public ClosedLoopRampsConfigs ClosedLoopRamps

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameter list:

• ClosedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod
• ClosedLoopRampsConfigs.VoltageClosedLoopRampPeriod
• ClosedLoopRampsConfigs.TorqueClosedLoopRampPeriod

HardwareLimitSwitch

public HardwareLimitSwitchConfigs HardwareLimitSwitch

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameter list:

• HardwareLimitSwitchConfigs.ForwardLimitType
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ForwardLimitEnable
• HardwareLimitSwitchConfigs.ForwardLimitSource
• HardwareLimitSwitchConfigs.ForwardLimitRemoteSensorID
• HardwareLimitSwitchConfigs.ReverseLimitType
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ReverseLimitEnable
• HardwareLimitSwitchConfigs.ReverseLimitSource
• HardwareLimitSwitchConfigs.ReverseLimitRemoteSensorID

Audio

public AudioConfigs Audio

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

• AudioConfigs.BeepOnBoot
• AudioConfigs.BeepOnConfig
• AudioConfigs.AllowMusicDurDisable

SoftwareLimitSwitch

public SoftwareLimitSwitchConfigs SoftwareLimitSwitch

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameter list:

• SoftwareLimitSwitchConfigs.ForwardSoftLimitEnable
• SoftwareLimitSwitchConfigs.ReverseSoftLimitEnable
• SoftwareLimitSwitchConfigs.ForwardSoftLimitThreshold
• SoftwareLimitSwitchConfigs.ReverseSoftLimitThreshold

MotionMagic

public MotionMagicConfigs MotionMagic

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

• MotionMagicConfigs.MotionMagicCruiseVelocity
• MotionMagicConfigs.MotionMagicAcceleration
• MotionMagicConfigs.MotionMagicJerk
• MotionMagicConfigs.MotionMagicExpo_kV
• MotionMagicConfigs.MotionMagicExpo_kA

CustomParams

public CustomParamsConfigs CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

ClosedLoopGeneral

public ClosedLoopGeneralConfigs ClosedLoopGeneral

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

• ClosedLoopGeneralConfigs.ContinuousWrap
• ClosedLoopGeneralConfigs.DifferentialContinuousWrap
• ClosedLoopGeneralConfigs.GainSchedErrorThreshold
• ClosedLoopGeneralConfigs.GainSchedKpBehavior

Slot0

public Slot0Configs Slot0

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot0Configs.kP
• Slot0Configs.kI
• Slot0Configs.kD
• Slot0Configs.kS
• Slot0Configs.kV
• Slot0Configs.kA
• Slot0Configs.kG
• Slot0Configs.GravityType
• Slot0Configs.StaticFeedforwardSign
• Slot0Configs.GravityArmPositionOffset
• Slot0Configs.GainSchedBehavior

Slot1

public Slot1Configs Slot1

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot1Configs.kP
• Slot1Configs.kI
• Slot1Configs.kD
• Slot1Configs.kS
• Slot1Configs.kV
• Slot1Configs.kA
• Slot1Configs.kG
• Slot1Configs.GravityType
• Slot1Configs.StaticFeedforwardSign
• Slot1Configs.GravityArmPositionOffset
• Slot1Configs.GainSchedBehavior

Slot2

public Slot2Configs Slot2

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot2Configs.kP
• Slot2Configs.kI
• Slot2Configs.kD
• Slot2Configs.kS
• Slot2Configs.kV
• Slot2Configs.kA
• Slot2Configs.kG
• Slot2Configs.GravityType
• Slot2Configs.StaticFeedforwardSign
• Slot2Configs.GravityArmPositionOffset
• Slot2Configs.GainSchedBehavior

Constructor Details

TalonFXConfiguration

public TalonFXConfiguration()

Method Details

withMotorOutput

public final TalonFXConfiguration withMotorOutput(MotorOutputConfigs newMotorOutput)

Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameter list:

• MotorOutputConfigs.Inverted
• MotorOutputConfigs.NeutralMode
• MotorOutputConfigs.DutyCycleNeutralDeadband
• MotorOutputConfigs.PeakForwardDutyCycle
• MotorOutputConfigs.PeakReverseDutyCycle
• MotorOutputConfigs.ControlTimesyncFreqHz

Parameters:

newMotorOutput - Parameter to modify

Returns:

Itself

withCurrentLimits

public final TalonFXConfiguration withCurrentLimits(CurrentLimitsConfigs newCurrentLimits)

Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameter list:

• CurrentLimitsConfigs.StatorCurrentLimit
• CurrentLimitsConfigs.StatorCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLimit
• CurrentLimitsConfigs.SupplyCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLowerLimit
• CurrentLimitsConfigs.SupplyCurrentLowerTime

Parameters:

newCurrentLimits - Parameter to modify

Returns:

Itself

withVoltage

public final TalonFXConfiguration withVoltage(VoltageConfigs newVoltage)

Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

• VoltageConfigs.SupplyVoltageTimeConstant
• VoltageConfigs.PeakForwardVoltage
• VoltageConfigs.PeakReverseVoltage

Parameters:

newVoltage - Parameter to modify

Returns:

Itself

withTorqueCurrent

public final TalonFXConfiguration withTorqueCurrent(TorqueCurrentConfigs newTorqueCurrent)

Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Parameter list:

• TorqueCurrentConfigs.PeakForwardTorqueCurrent
• TorqueCurrentConfigs.PeakReverseTorqueCurrent
• TorqueCurrentConfigs.TorqueNeutralDeadband

Parameters:

newTorqueCurrent - Parameter to modify

Returns:

Itself

withFeedback

public final TalonFXConfiguration withFeedback(FeedbackConfigs newFeedback)

Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

Parameter list:

• FeedbackConfigs.FeedbackRotorOffset
• FeedbackConfigs.SensorToMechanismRatio
• FeedbackConfigs.RotorToSensorRatio
• FeedbackConfigs.FeedbackSensorSource
• FeedbackConfigs.FeedbackRemoteSensorID
• FeedbackConfigs.VelocityFilterTimeConstant

Parameters:

newFeedback - Parameter to modify

Returns:

Itself

withDifferentialSensors

public final TalonFXConfiguration withDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)

Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

Parameter list:

• DifferentialSensorsConfigs.DifferentialSensorSource
• DifferentialSensorsConfigs.DifferentialTalonFXSensorID
• DifferentialSensorsConfigs.DifferentialRemoteSensorID
• DifferentialSensorsConfigs.SensorToDifferentialRatio

Parameters:

newDifferentialSensors - Parameter to modify

Returns:

Itself

withDifferentialConstants

public final TalonFXConfiguration withDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)

Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

Parameter list:

• DifferentialConstantsConfigs.PeakDifferentialDutyCycle
• DifferentialConstantsConfigs.PeakDifferentialVoltage
• DifferentialConstantsConfigs.PeakDifferentialTorqueCurrent

Parameters:

newDifferentialConstants - Parameter to modify

Returns:

Itself

withOpenLoopRamps

public final TalonFXConfiguration withOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)

Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameter list:

• OpenLoopRampsConfigs.DutyCycleOpenLoopRampPeriod
• OpenLoopRampsConfigs.VoltageOpenLoopRampPeriod
• OpenLoopRampsConfigs.TorqueOpenLoopRampPeriod

Parameters:

newOpenLoopRamps - Parameter to modify

Returns:

Itself

withClosedLoopRamps

public final TalonFXConfiguration withClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)

Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameter list:

• ClosedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod
• ClosedLoopRampsConfigs.VoltageClosedLoopRampPeriod
• ClosedLoopRampsConfigs.TorqueClosedLoopRampPeriod

Parameters:

newClosedLoopRamps - Parameter to modify

Returns:

Itself

withHardwareLimitSwitch

public final TalonFXConfiguration withHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)

Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameter list:

• HardwareLimitSwitchConfigs.ForwardLimitType
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ForwardLimitEnable
• HardwareLimitSwitchConfigs.ForwardLimitSource
• HardwareLimitSwitchConfigs.ForwardLimitRemoteSensorID
• HardwareLimitSwitchConfigs.ReverseLimitType
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ReverseLimitEnable
• HardwareLimitSwitchConfigs.ReverseLimitSource
• HardwareLimitSwitchConfigs.ReverseLimitRemoteSensorID

Parameters:

newHardwareLimitSwitch - Parameter to modify

Returns:

Itself

withAudio

public final TalonFXConfiguration withAudio(AudioConfigs newAudio)

Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

• AudioConfigs.BeepOnBoot
• AudioConfigs.BeepOnConfig
• AudioConfigs.AllowMusicDurDisable

Parameters:

newAudio - Parameter to modify

Returns:

Itself

withSoftwareLimitSwitch

public final TalonFXConfiguration withSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)

Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameter list:

• SoftwareLimitSwitchConfigs.ForwardSoftLimitEnable
• SoftwareLimitSwitchConfigs.ReverseSoftLimitEnable
• SoftwareLimitSwitchConfigs.ForwardSoftLimitThreshold
• SoftwareLimitSwitchConfigs.ReverseSoftLimitThreshold

Parameters:

newSoftwareLimitSwitch - Parameter to modify

Returns:

Itself

withMotionMagic

public final TalonFXConfiguration withMotionMagic(MotionMagicConfigs newMotionMagic)

Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

• MotionMagicConfigs.MotionMagicCruiseVelocity
• MotionMagicConfigs.MotionMagicAcceleration
• MotionMagicConfigs.MotionMagicJerk
• MotionMagicConfigs.MotionMagicExpo_kV
• MotionMagicConfigs.MotionMagicExpo_kA

Parameters:

newMotionMagic - Parameter to modify

Returns:

Itself

withCustomParams

public final TalonFXConfiguration withCustomParams(CustomParamsConfigs newCustomParams)

Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Parameters:

newCustomParams - Parameter to modify

Returns:

Itself

withClosedLoopGeneral

public final TalonFXConfiguration withClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)

Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

• ClosedLoopGeneralConfigs.ContinuousWrap
• ClosedLoopGeneralConfigs.DifferentialContinuousWrap
• ClosedLoopGeneralConfigs.GainSchedErrorThreshold
• ClosedLoopGeneralConfigs.GainSchedKpBehavior

Parameters:

newClosedLoopGeneral - Parameter to modify

Returns:

Itself

withSlot0

public final TalonFXConfiguration withSlot0(Slot0Configs newSlot0)

Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot0Configs.kP
• Slot0Configs.kI
• Slot0Configs.kD
• Slot0Configs.kS
• Slot0Configs.kV
• Slot0Configs.kA
• Slot0Configs.kG
• Slot0Configs.GravityType
• Slot0Configs.StaticFeedforwardSign
• Slot0Configs.GravityArmPositionOffset
• Slot0Configs.GainSchedBehavior

Parameters:

newSlot0 - Parameter to modify

Returns:

Itself

withSlot1

public final TalonFXConfiguration withSlot1(Slot1Configs newSlot1)

Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot1Configs.kP
• Slot1Configs.kI
• Slot1Configs.kD
• Slot1Configs.kS
• Slot1Configs.kV
• Slot1Configs.kA
• Slot1Configs.kG
• Slot1Configs.GravityType
• Slot1Configs.StaticFeedforwardSign
• Slot1Configs.GravityArmPositionOffset
• Slot1Configs.GainSchedBehavior

Parameters:

newSlot1 - Parameter to modify

Returns:

Itself

withSlot2

public final TalonFXConfiguration withSlot2(Slot2Configs newSlot2)

Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot2Configs.kP
• Slot2Configs.kI
• Slot2Configs.kD
• Slot2Configs.kS
• Slot2Configs.kV
• Slot2Configs.kA
• Slot2Configs.kG
• Slot2Configs.GravityType
• Slot2Configs.StaticFeedforwardSign
• Slot2Configs.GravityArmPositionOffset
• Slot2Configs.GainSchedBehavior

Parameters:

newSlot2 - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

serialize

public final String serialize()

Get the serialized form of this configuration.

Specified by:

serialize in interface ISerializable

Returns:

Serialized form of this config group

deserialize

public final StatusCode deserialize(String to_deserialize)

Take a string and deserialize it to this configuration.

Specified by:

deserialize in interface ParentConfiguration

Returns:

Return code of the deserialize method

clone

public TalonFXConfiguration clone()

Overrides:

clone in class Object