Package com.ctre.phoenix6.hardware.traits

Interface HasTalonSignals

All Superinterfaces:
CommonDevice
All Known Subinterfaces:
CommonTalon, CommonTalonWithExternalMotor, CommonTalonWithFOC
All Known Implementing Classes:
CoreTalonFX, CoreTalonFXS, TalonFX, TalonFXS
public interface HasTalonSignals extends CommonDevice
Contains all status signals available for devices that support Talon signals.

  • Method Details

    • getVersionMajor

      StatusSignal<Integer> getVersionMajor()
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionMajor Status Signal Object

    • getVersionMajor

      StatusSignal<Integer> getVersionMajor(boolean refresh)
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      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

    • getVersionMinor

      StatusSignal<Integer> getVersionMinor()
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionMinor Status Signal Object

    • getVersionMinor

      StatusSignal<Integer> getVersionMinor(boolean refresh)
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      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

    • getVersionBugfix

      StatusSignal<Integer> getVersionBugfix()
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionBugfix Status Signal Object

    • getVersionBugfix

      StatusSignal<Integer> getVersionBugfix(boolean refresh)
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      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

    • getVersionBuild

      StatusSignal<Integer> getVersionBuild()
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      VersionBuild Status Signal Object

    • getVersionBuild

      StatusSignal<Integer> getVersionBuild(boolean refresh)
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:

      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

    • getVersion

      StatusSignal<Integer> getVersion()
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Version Status Signal Object

    • getVersion

      StatusSignal<Integer> getVersion(boolean refresh)
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:

      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

    • getFaultField

      StatusSignal<Integer> getFaultField()
      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:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      FaultField Status Signal Object

    • getFaultField

      StatusSignal<Integer> getFaultField(boolean refresh)
      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:

      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

    • getStickyFaultField

      StatusSignal<Integer> getStickyFaultField()
      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:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFaultField Status Signal Object

    • getStickyFaultField

      StatusSignal<Integer> getStickyFaultField(boolean refresh)
      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:

      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

    • getMotorVoltage

      StatusSignal<Voltage> getMotorVoltage()
      The applied (output) motor voltage.
      • Minimum Value: -40.96
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: V

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotorVoltage Status Signal Object

    • getMotorVoltage

      StatusSignal<Voltage> getMotorVoltage(boolean refresh)
      The applied (output) motor voltage.
      • Minimum Value: -40.96
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: V

      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

    • getForwardLimit

      StatusSignal<ForwardLimitValue> getForwardLimit()
      Forward Limit Pin.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ForwardLimit Status Signal Object

    • getForwardLimit

      StatusSignal<ForwardLimitValue> getForwardLimit(boolean refresh)
      Forward Limit Pin.

      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

    • getReverseLimit

      StatusSignal<ReverseLimitValue> getReverseLimit()
      Reverse Limit Pin.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ReverseLimit Status Signal Object

    • getReverseLimit

      StatusSignal<ReverseLimitValue> getReverseLimit(boolean refresh)
      Reverse Limit Pin.

      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

    • getAppliedRotorPolarity

      StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      AppliedRotorPolarity Status Signal Object

    • getAppliedRotorPolarity

      StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity(boolean refresh)
      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.

      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

    • getDutyCycle

      StatusSignal<Double> getDutyCycle()
      The applied motor duty cycle.
      • Minimum Value: -2.0
      • Maximum Value: 1.9990234375
      • Default Value: 0
      • Units: fractional

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DutyCycle Status Signal Object

    • getDutyCycle

      StatusSignal<Double> getDutyCycle(boolean refresh)
      The applied motor duty cycle.
      • Minimum Value: -2.0
      • Maximum Value: 1.9990234375
      • Default Value: 0
      • Units: fractional

      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

    • getTorqueCurrent

      StatusSignal<Current> getTorqueCurrent()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      TorqueCurrent Status Signal Object

    • getTorqueCurrent

      StatusSignal<Current> getTorqueCurrent(boolean refresh)
      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

      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

    • getStatorCurrent

      StatusSignal<Current> getStatorCurrent()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StatorCurrent Status Signal Object

    • getStatorCurrent

      StatusSignal<Current> getStatorCurrent(boolean refresh)
      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

      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

    • getSupplyCurrent

      StatusSignal<Current> getSupplyCurrent()
      Measured supply side current.
      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A

      This refreshes and returns a cached StatusSignal object.

      Returns:
      SupplyCurrent Status Signal Object

    • getSupplyCurrent

      StatusSignal<Current> getSupplyCurrent(boolean refresh)
      Measured supply side current.
      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A

      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

    • getSupplyVoltage

      StatusSignal<Voltage> getSupplyVoltage()
      Measured supply voltage to the device.
      • Minimum Value: 4
      • Maximum Value: 29.575
      • Default Value: 4
      • Units: V

      This refreshes and returns a cached StatusSignal object.

      Returns:
      SupplyVoltage Status Signal Object

    • getSupplyVoltage

      StatusSignal<Voltage> getSupplyVoltage(boolean refresh)
      Measured supply voltage to the device.
      • Minimum Value: 4
      • Maximum Value: 29.575
      • Default Value: 4
      • Units: V

      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

    • getDeviceTemp

      StatusSignal<Temperature> getDeviceTemp()
      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: ℃

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DeviceTemp Status Signal Object

    • getDeviceTemp

      StatusSignal<Temperature> getDeviceTemp(boolean refresh)
      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: ℃

      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

    • getProcessorTemp

      StatusSignal<Temperature> getProcessorTemp()
      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: ℃

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ProcessorTemp Status Signal Object

    • getProcessorTemp

      StatusSignal<Temperature> getProcessorTemp(boolean refresh)
      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: ℃

      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

    • getRotorVelocity

      StatusSignal<AngularVelocity> getRotorVelocity()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RotorVelocity Status Signal Object

    • getRotorVelocity

      StatusSignal<AngularVelocity> getRotorVelocity(boolean refresh)
      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

      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

    • getRotorPosition

      StatusSignal<Angle> getRotorPosition()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RotorPosition Status Signal Object

    • getRotorPosition

      StatusSignal<Angle> getRotorPosition(boolean refresh)
      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

      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

    • getVelocity

      StatusSignal<AngularVelocity> getVelocity()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Velocity Status Signal Object

    • getVelocity

      StatusSignal<AngularVelocity> getVelocity(boolean refresh)
      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

      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

    • getPosition

      StatusSignal<Angle> getPosition()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Position Status Signal Object

    • getPosition

      StatusSignal<Angle> getPosition(boolean refresh)
      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

      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

    • getAcceleration

      StatusSignal<AngularAcceleration> getAcceleration()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Acceleration Status Signal Object

    • getAcceleration

      StatusSignal<AngularAcceleration> getAcceleration(boolean refresh)
      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

      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

    • getControlMode

      StatusSignal<ControlModeValue> getControlMode()
      The active control mode of the motor controller.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ControlMode Status Signal Object

    • getControlMode

      StatusSignal<ControlModeValue> getControlMode(boolean refresh)
      The active control mode of the motor controller.

      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

    • getMotionMagicAtTarget

      StatusSignal<Boolean> getMotionMagicAtTarget()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotionMagicAtTarget Status Signal Object

    • getMotionMagicAtTarget

      StatusSignal<Boolean> getMotionMagicAtTarget(boolean refresh)
      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

      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

    • getMotionMagicIsRunning

      StatusSignal<Boolean> getMotionMagicIsRunning()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotionMagicIsRunning Status Signal Object

    • getMotionMagicIsRunning

      StatusSignal<Boolean> getMotionMagicIsRunning(boolean refresh)
      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

      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

    • getRobotEnable

      StatusSignal<RobotEnableValue> getRobotEnable()
      Indicates if the robot is enabled.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      RobotEnable Status Signal Object

    • getRobotEnable

      StatusSignal<RobotEnableValue> getRobotEnable(boolean refresh)
      Indicates if the robot is enabled.

      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

    • getDeviceEnable

      StatusSignal<DeviceEnableValue> getDeviceEnable()
      Indicates if device is actuator enabled.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DeviceEnable Status Signal Object

    • getDeviceEnable

      StatusSignal<DeviceEnableValue> getDeviceEnable(boolean refresh)
      Indicates if device is actuator enabled.

      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

    • getClosedLoopSlot

      StatusSignal<Integer> getClosedLoopSlot()
      The slot that the closed-loop PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopSlot Status Signal Object

    • getClosedLoopSlot

      StatusSignal<Integer> getClosedLoopSlot(boolean refresh)
      The slot that the closed-loop PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:

      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

    • getMotorOutputStatus

      StatusSignal<MotorOutputStatusValue> getMotorOutputStatus()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotorOutputStatus Status Signal Object

    • getMotorOutputStatus

      StatusSignal<MotorOutputStatusValue> getMotorOutputStatus(boolean refresh)
      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.

      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

    • getDifferentialControlMode

      StatusSignal<DifferentialControlModeValue> getDifferentialControlMode()
      The active control mode of the differential controller.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialControlMode Status Signal Object

    • getDifferentialControlMode

      StatusSignal<DifferentialControlModeValue> getDifferentialControlMode(boolean refresh)
      The active control mode of the differential controller.

      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

    • getDifferentialAverageVelocity

      StatusSignal<AngularVelocity> getDifferentialAverageVelocity()
      Average component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialAverageVelocity Status Signal Object

    • getDifferentialAverageVelocity

      StatusSignal<AngularVelocity> getDifferentialAverageVelocity(boolean refresh)
      Average component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      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

    • getDifferentialAveragePosition

      StatusSignal<Angle> getDifferentialAveragePosition()
      Average component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialAveragePosition Status Signal Object

    • getDifferentialAveragePosition

      StatusSignal<Angle> getDifferentialAveragePosition(boolean refresh)
      Average component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      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

    • getDifferentialDifferenceVelocity

      StatusSignal<AngularVelocity> getDifferentialDifferenceVelocity()
      Difference component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialDifferenceVelocity Status Signal Object

    • getDifferentialDifferenceVelocity

      StatusSignal<AngularVelocity> getDifferentialDifferenceVelocity(boolean refresh)
      Difference component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second

      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

    • getDifferentialDifferencePosition

      StatusSignal<Angle> getDifferentialDifferencePosition()
      Difference component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialDifferencePosition Status Signal Object

    • getDifferentialDifferencePosition

      StatusSignal<Angle> getDifferentialDifferencePosition(boolean refresh)
      Difference component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations

      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

    • getDifferentialClosedLoopSlot

      StatusSignal<Integer> getDifferentialClosedLoopSlot()
      The slot that the closed-loop differential PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopSlot Status Signal Object

    • getDifferentialClosedLoopSlot

      StatusSignal<Integer> getDifferentialClosedLoopSlot(boolean refresh)
      The slot that the closed-loop differential PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:

      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

    • getMotorKT

      StatusSignal<Per<TorqueUnit,CurrentUnit>> getMotorKT()
      The torque constant (K_T) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 0.025500000000000002
      • Default Value: 0
      • Units: Nm/A

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotorKT Status Signal Object

    • getMotorKT

      StatusSignal<Per<TorqueUnit,CurrentUnit>> getMotorKT(boolean refresh)
      The torque constant (K_T) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 0.025500000000000002
      • Default Value: 0
      • Units: Nm/A

      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

    • getMotorKV

      StatusSignal<Per<AngularVelocityUnit,VoltageUnit>> getMotorKV()
      The velocity constant (K_V) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 2047.0
      • Default Value: 0
      • Units: RPM/V

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotorKV Status Signal Object

    • getMotorKV

      StatusSignal<Per<AngularVelocityUnit,VoltageUnit>> getMotorKV(boolean refresh)
      The velocity constant (K_V) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 2047.0
      • Default Value: 0
      • Units: RPM/V

      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

    • getMotorStallCurrent

      StatusSignal<Current> getMotorStallCurrent()
      The stall current of the motor at 12 V output.
      • Minimum Value: 0.0
      • Maximum Value: 1023.0
      • Default Value: 0
      • Units: A

      This refreshes and returns a cached StatusSignal object.

      Returns:
      MotorStallCurrent Status Signal Object

    • getMotorStallCurrent

      StatusSignal<Current> getMotorStallCurrent(boolean refresh)
      The stall current of the motor at 12 V output.
      • Minimum Value: 0.0
      • Maximum Value: 1023.0
      • Default Value: 0
      • Units: A

      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

    • getBridgeOutput

      StatusSignal<BridgeOutputValue> getBridgeOutput()
      The applied output of the bridge.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      BridgeOutput Status Signal Object

    • getBridgeOutput

      StatusSignal<BridgeOutputValue> getBridgeOutput(boolean refresh)
      The applied output of the bridge.

      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

    • getIsProLicensed

      StatusSignal<Boolean> getIsProLicensed()
      Whether the device is Phoenix Pro licensed.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      IsProLicensed Status Signal Object

    • getIsProLicensed

      StatusSignal<Boolean> getIsProLicensed(boolean refresh)
      Whether the device is Phoenix Pro licensed.
      • Default Value: False

      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

    • getAncillaryDeviceTemp

      StatusSignal<Temperature> getAncillaryDeviceTemp()
      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: ℃

      This refreshes and returns a cached StatusSignal object.

      Returns:
      AncillaryDeviceTemp Status Signal Object

    • getAncillaryDeviceTemp

      StatusSignal<Temperature> getAncillaryDeviceTemp(boolean refresh)
      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: ℃

      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

    • getConnectedMotor

      StatusSignal<ConnectedMotorValue> getConnectedMotor()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ConnectedMotor Status Signal Object

    • getConnectedMotor

      StatusSignal<ConnectedMotorValue> getConnectedMotor(boolean refresh)
      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.

      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

    • getFault_Hardware

      StatusSignal<Boolean> getFault_Hardware()
      Hardware fault occurred
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_Hardware Status Signal Object

    • getFault_Hardware

      StatusSignal<Boolean> getFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False

      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

    • getStickyFault_Hardware

      StatusSignal<Boolean> getStickyFault_Hardware()
      Hardware fault occurred
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_Hardware Status Signal Object

    • getStickyFault_Hardware

      StatusSignal<Boolean> getStickyFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False

      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

    • getFault_ProcTemp

      StatusSignal<Boolean> getFault_ProcTemp()
      Processor temperature exceeded limit
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_ProcTemp Status Signal Object

    • getFault_ProcTemp

      StatusSignal<Boolean> getFault_ProcTemp(boolean refresh)
      Processor temperature exceeded limit
      • Default Value: False

      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

    • getStickyFault_ProcTemp

      StatusSignal<Boolean> getStickyFault_ProcTemp()
      Processor temperature exceeded limit
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_ProcTemp Status Signal Object

    • getStickyFault_ProcTemp

      StatusSignal<Boolean> getStickyFault_ProcTemp(boolean refresh)
      Processor temperature exceeded limit
      • Default Value: False

      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

    • getFault_DeviceTemp

      StatusSignal<Boolean> getFault_DeviceTemp()
      Device temperature exceeded limit
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_DeviceTemp Status Signal Object

    • getFault_DeviceTemp

      StatusSignal<Boolean> getFault_DeviceTemp(boolean refresh)
      Device temperature exceeded limit
      • Default Value: False

      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

    • getStickyFault_DeviceTemp

      StatusSignal<Boolean> getStickyFault_DeviceTemp()
      Device temperature exceeded limit
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_DeviceTemp Status Signal Object

    • getStickyFault_DeviceTemp

      StatusSignal<Boolean> getStickyFault_DeviceTemp(boolean refresh)
      Device temperature exceeded limit
      • Default Value: False

      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

    • getFault_Undervoltage

      StatusSignal<Boolean> getFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_Undervoltage Status Signal Object

    • getFault_Undervoltage

      StatusSignal<Boolean> getFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False

      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

    • getStickyFault_Undervoltage

      StatusSignal<Boolean> getStickyFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      StatusSignal<Boolean> getStickyFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False

      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

    • getFault_BootDuringEnable

      StatusSignal<Boolean> getFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getFault_BootDuringEnable

      StatusSignal<Boolean> getFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False

      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

    • getStickyFault_BootDuringEnable

      StatusSignal<Boolean> getStickyFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      StatusSignal<Boolean> getStickyFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False

      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

    • getFault_UnlicensedFeatureInUse

      StatusSignal<Boolean> getFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getFault_UnlicensedFeatureInUse

      StatusSignal<Boolean> getFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False

      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

    • getStickyFault_UnlicensedFeatureInUse

      StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False

      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

    • getFault_BridgeBrownout

      StatusSignal<Boolean> getFault_BridgeBrownout()
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_BridgeBrownout Status Signal Object

    • getFault_BridgeBrownout

      StatusSignal<Boolean> getFault_BridgeBrownout(boolean refresh)
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False

      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

    • getStickyFault_BridgeBrownout

      StatusSignal<Boolean> getStickyFault_BridgeBrownout()
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_BridgeBrownout Status Signal Object

    • getStickyFault_BridgeBrownout

      StatusSignal<Boolean> getStickyFault_BridgeBrownout(boolean refresh)
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False

      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

    • getFault_RemoteSensorReset

      StatusSignal<Boolean> getFault_RemoteSensorReset()
      The remote sensor has reset.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_RemoteSensorReset Status Signal Object

    • getFault_RemoteSensorReset

      StatusSignal<Boolean> getFault_RemoteSensorReset(boolean refresh)
      The remote sensor has reset.
      • Default Value: False

      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

    • getStickyFault_RemoteSensorReset

      StatusSignal<Boolean> getStickyFault_RemoteSensorReset()
      The remote sensor has reset.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_RemoteSensorReset Status Signal Object

    • getStickyFault_RemoteSensorReset

      StatusSignal<Boolean> getStickyFault_RemoteSensorReset(boolean refresh)
      The remote sensor has reset.
      • Default Value: False

      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

    • getFault_MissingDifferentialFX

      StatusSignal<Boolean> getFault_MissingDifferentialFX()
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_MissingDifferentialFX Status Signal Object

    • getFault_MissingDifferentialFX

      StatusSignal<Boolean> getFault_MissingDifferentialFX(boolean refresh)
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False

      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

    • getStickyFault_MissingDifferentialFX

      StatusSignal<Boolean> getStickyFault_MissingDifferentialFX()
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_MissingDifferentialFX Status Signal Object

    • getStickyFault_MissingDifferentialFX

      StatusSignal<Boolean> getStickyFault_MissingDifferentialFX(boolean refresh)
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False

      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

    • getFault_RemoteSensorPosOverflow

      StatusSignal<Boolean> getFault_RemoteSensorPosOverflow()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_RemoteSensorPosOverflow Status Signal Object

    • getFault_RemoteSensorPosOverflow

      StatusSignal<Boolean> getFault_RemoteSensorPosOverflow(boolean refresh)
      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

      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

    • getStickyFault_RemoteSensorPosOverflow

      StatusSignal<Boolean> getStickyFault_RemoteSensorPosOverflow()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_RemoteSensorPosOverflow Status Signal Object

    • getStickyFault_RemoteSensorPosOverflow

      StatusSignal<Boolean> getStickyFault_RemoteSensorPosOverflow(boolean refresh)
      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

      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

    • getFault_OverSupplyV

      StatusSignal<Boolean> getFault_OverSupplyV()
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_OverSupplyV Status Signal Object

    • getFault_OverSupplyV

      StatusSignal<Boolean> getFault_OverSupplyV(boolean refresh)
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False

      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

    • getStickyFault_OverSupplyV

      StatusSignal<Boolean> getStickyFault_OverSupplyV()
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_OverSupplyV Status Signal Object

    • getStickyFault_OverSupplyV

      StatusSignal<Boolean> getStickyFault_OverSupplyV(boolean refresh)
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False

      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

    • getFault_UnstableSupplyV

      StatusSignal<Boolean> getFault_UnstableSupplyV()
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_UnstableSupplyV Status Signal Object

    • getFault_UnstableSupplyV

      StatusSignal<Boolean> getFault_UnstableSupplyV(boolean refresh)
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False

      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

    • getStickyFault_UnstableSupplyV

      StatusSignal<Boolean> getStickyFault_UnstableSupplyV()
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_UnstableSupplyV Status Signal Object

    • getStickyFault_UnstableSupplyV

      StatusSignal<Boolean> getStickyFault_UnstableSupplyV(boolean refresh)
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False

      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

    • getFault_ReverseHardLimit

      StatusSignal<Boolean> getFault_ReverseHardLimit()
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_ReverseHardLimit Status Signal Object

    • getFault_ReverseHardLimit

      StatusSignal<Boolean> getFault_ReverseHardLimit(boolean refresh)
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getStickyFault_ReverseHardLimit

      StatusSignal<Boolean> getStickyFault_ReverseHardLimit()
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_ReverseHardLimit Status Signal Object

    • getStickyFault_ReverseHardLimit

      StatusSignal<Boolean> getStickyFault_ReverseHardLimit(boolean refresh)
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getFault_ForwardHardLimit

      StatusSignal<Boolean> getFault_ForwardHardLimit()
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_ForwardHardLimit Status Signal Object

    • getFault_ForwardHardLimit

      StatusSignal<Boolean> getFault_ForwardHardLimit(boolean refresh)
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getStickyFault_ForwardHardLimit

      StatusSignal<Boolean> getStickyFault_ForwardHardLimit()
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_ForwardHardLimit Status Signal Object

    • getStickyFault_ForwardHardLimit

      StatusSignal<Boolean> getStickyFault_ForwardHardLimit(boolean refresh)
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getFault_ReverseSoftLimit

      StatusSignal<Boolean> getFault_ReverseSoftLimit()
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_ReverseSoftLimit Status Signal Object

    • getFault_ReverseSoftLimit

      StatusSignal<Boolean> getFault_ReverseSoftLimit(boolean refresh)
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getStickyFault_ReverseSoftLimit

      StatusSignal<Boolean> getStickyFault_ReverseSoftLimit()
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_ReverseSoftLimit Status Signal Object

    • getStickyFault_ReverseSoftLimit

      StatusSignal<Boolean> getStickyFault_ReverseSoftLimit(boolean refresh)
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getFault_ForwardSoftLimit

      StatusSignal<Boolean> getFault_ForwardSoftLimit()
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_ForwardSoftLimit Status Signal Object

    • getFault_ForwardSoftLimit

      StatusSignal<Boolean> getFault_ForwardSoftLimit(boolean refresh)
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getStickyFault_ForwardSoftLimit

      StatusSignal<Boolean> getStickyFault_ForwardSoftLimit()
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_ForwardSoftLimit Status Signal Object

    • getStickyFault_ForwardSoftLimit

      StatusSignal<Boolean> getStickyFault_ForwardSoftLimit(boolean refresh)
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False

      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

    • getFault_MissingSoftLimitRemote

      StatusSignal<Boolean> getFault_MissingSoftLimitRemote()
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_MissingSoftLimitRemote Status Signal Object

    • getFault_MissingSoftLimitRemote

      StatusSignal<Boolean> getFault_MissingSoftLimitRemote(boolean refresh)
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False

      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

    • getStickyFault_MissingSoftLimitRemote

      StatusSignal<Boolean> getStickyFault_MissingSoftLimitRemote()
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_MissingSoftLimitRemote Status Signal Object

    • getStickyFault_MissingSoftLimitRemote

      StatusSignal<Boolean> getStickyFault_MissingSoftLimitRemote(boolean refresh)
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False

      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

    • getFault_MissingHardLimitRemote

      StatusSignal<Boolean> getFault_MissingHardLimitRemote()
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_MissingHardLimitRemote Status Signal Object

    • getFault_MissingHardLimitRemote

      StatusSignal<Boolean> getFault_MissingHardLimitRemote(boolean refresh)
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False

      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

    • getStickyFault_MissingHardLimitRemote

      StatusSignal<Boolean> getStickyFault_MissingHardLimitRemote()
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_MissingHardLimitRemote Status Signal Object

    • getStickyFault_MissingHardLimitRemote

      StatusSignal<Boolean> getStickyFault_MissingHardLimitRemote(boolean refresh)
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False

      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

    • getFault_RemoteSensorDataInvalid

      StatusSignal<Boolean> getFault_RemoteSensorDataInvalid()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_RemoteSensorDataInvalid Status Signal Object

    • getFault_RemoteSensorDataInvalid

      StatusSignal<Boolean> getFault_RemoteSensorDataInvalid(boolean refresh)
      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

      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

    • getStickyFault_RemoteSensorDataInvalid

      StatusSignal<Boolean> getStickyFault_RemoteSensorDataInvalid()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_RemoteSensorDataInvalid Status Signal Object

    • getStickyFault_RemoteSensorDataInvalid

      StatusSignal<Boolean> getStickyFault_RemoteSensorDataInvalid(boolean refresh)
      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

      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

    • getFault_FusedSensorOutOfSync

      StatusSignal<Boolean> getFault_FusedSensorOutOfSync()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_FusedSensorOutOfSync Status Signal Object

    • getFault_FusedSensorOutOfSync

      StatusSignal<Boolean> getFault_FusedSensorOutOfSync(boolean refresh)
      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

      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

    • getStickyFault_FusedSensorOutOfSync

      StatusSignal<Boolean> getStickyFault_FusedSensorOutOfSync()
      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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_FusedSensorOutOfSync Status Signal Object

    • getStickyFault_FusedSensorOutOfSync

      StatusSignal<Boolean> getStickyFault_FusedSensorOutOfSync(boolean refresh)
      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

      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

    • getFault_StatorCurrLimit

      StatusSignal<Boolean> getFault_StatorCurrLimit()
      Stator current limit occured.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_StatorCurrLimit Status Signal Object

    • getFault_StatorCurrLimit

      StatusSignal<Boolean> getFault_StatorCurrLimit(boolean refresh)
      Stator current limit occured.
      • Default Value: False

      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

    • getStickyFault_StatorCurrLimit

      StatusSignal<Boolean> getStickyFault_StatorCurrLimit()
      Stator current limit occured.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_StatorCurrLimit Status Signal Object

    • getStickyFault_StatorCurrLimit

      StatusSignal<Boolean> getStickyFault_StatorCurrLimit(boolean refresh)
      Stator current limit occured.
      • Default Value: False

      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

    • getFault_SupplyCurrLimit

      StatusSignal<Boolean> getFault_SupplyCurrLimit()
      Supply current limit occured.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_SupplyCurrLimit Status Signal Object

    • getFault_SupplyCurrLimit

      StatusSignal<Boolean> getFault_SupplyCurrLimit(boolean refresh)
      Supply current limit occured.
      • Default Value: False

      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

    • getStickyFault_SupplyCurrLimit

      StatusSignal<Boolean> getStickyFault_SupplyCurrLimit()
      Supply current limit occured.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_SupplyCurrLimit Status Signal Object

    • getStickyFault_SupplyCurrLimit

      StatusSignal<Boolean> getStickyFault_SupplyCurrLimit(boolean refresh)
      Supply current limit occured.
      • Default Value: False

      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

    • getFault_UsingFusedCANcoderWhileUnlicensed

      StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed()
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getFault_UsingFusedCANcoderWhileUnlicensed

      StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed(boolean refresh)
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False

      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

    • getStickyFault_UsingFusedCANcoderWhileUnlicensed

      StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed()
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getStickyFault_UsingFusedCANcoderWhileUnlicensed

      StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed(boolean refresh)
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False

      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

    • getFault_StaticBrakeDisabled

      StatusSignal<Boolean> getFault_StaticBrakeDisabled()
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      Fault_StaticBrakeDisabled Status Signal Object

    • getFault_StaticBrakeDisabled

      StatusSignal<Boolean> getFault_StaticBrakeDisabled(boolean refresh)
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False

      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

    • getStickyFault_StaticBrakeDisabled

      StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled()
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False

      This refreshes and returns a cached StatusSignal object.

      Returns:
      StickyFault_StaticBrakeDisabled Status Signal Object

    • getStickyFault_StaticBrakeDisabled

      StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled(boolean refresh)
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False

      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

    • getClosedLoopProportionalOutput

      StatusSignal<Double> getClosedLoopProportionalOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopProportionalOutput Status Signal object

    • getClosedLoopProportionalOutput

      StatusSignal<Double> getClosedLoopProportionalOutput(boolean refresh)
      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.

      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

    • getClosedLoopIntegratedOutput

      StatusSignal<Double> getClosedLoopIntegratedOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopIntegratedOutput Status Signal object

    • getClosedLoopIntegratedOutput

      StatusSignal<Double> getClosedLoopIntegratedOutput(boolean refresh)
      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.

      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

    • getClosedLoopFeedForward

      StatusSignal<Double> getClosedLoopFeedForward()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopFeedForward Status Signal object

    • getClosedLoopFeedForward

      StatusSignal<Double> getClosedLoopFeedForward(boolean refresh)
      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.

      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

    • getClosedLoopDerivativeOutput

      StatusSignal<Double> getClosedLoopDerivativeOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopDerivativeOutput Status Signal object

    • getClosedLoopDerivativeOutput

      StatusSignal<Double> getClosedLoopDerivativeOutput(boolean refresh)
      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.

      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

    • getClosedLoopOutput

      StatusSignal<Double> getClosedLoopOutput()
      Closed loop total output.

      The total output of the closed loop output.

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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopOutput Status Signal object

    • getClosedLoopOutput

      StatusSignal<Double> getClosedLoopOutput(boolean refresh)
      Closed loop total output.

      The total output of the closed loop output.

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

      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

    • getClosedLoopReference

      StatusSignal<Double> getClosedLoopReference()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopReference Status Signal object

    • getClosedLoopReference

      StatusSignal<Double> getClosedLoopReference(boolean refresh)
      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.

      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

    • getClosedLoopReferenceSlope

      StatusSignal<Double> getClosedLoopReferenceSlope()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopReferenceSlope Status Signal object

    • getClosedLoopReferenceSlope

      StatusSignal<Double> getClosedLoopReferenceSlope(boolean refresh)
      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.

      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

    • getClosedLoopError

      StatusSignal<Double> getClosedLoopError()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      ClosedLoopError Status Signal object

    • getClosedLoopError

      StatusSignal<Double> getClosedLoopError(boolean refresh)
      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.

      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

    • getDifferentialOutput

      StatusSignal<Double> getDifferentialOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialOutput Status Signal object

    • getDifferentialOutput

      StatusSignal<Double> getDifferentialOutput(boolean refresh)
      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.

      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

    • getDifferentialClosedLoopProportionalOutput

      StatusSignal<Double> getDifferentialClosedLoopProportionalOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopProportionalOutput Status Signal object

    • getDifferentialClosedLoopProportionalOutput

      StatusSignal<Double> getDifferentialClosedLoopProportionalOutput(boolean refresh)
      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.

      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

    • getDifferentialClosedLoopIntegratedOutput

      StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopIntegratedOutput Status Signal object

    • getDifferentialClosedLoopIntegratedOutput

      StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput(boolean refresh)
      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.

      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

    • getDifferentialClosedLoopFeedForward

      StatusSignal<Double> getDifferentialClosedLoopFeedForward()
      Differential Feedforward passed by the user.

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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopFeedForward Status Signal object

    • getDifferentialClosedLoopFeedForward

      StatusSignal<Double> getDifferentialClosedLoopFeedForward(boolean refresh)
      Differential Feedforward passed by the user.

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

      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

    • getDifferentialClosedLoopDerivativeOutput

      StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput()
      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.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopDerivativeOutput Status Signal object

    • getDifferentialClosedLoopDerivativeOutput

      StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput(boolean refresh)
      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.

      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

    • getDifferentialClosedLoopOutput

      StatusSignal<Double> getDifferentialClosedLoopOutput()
      Differential closed loop total output.

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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopOutput Status Signal object

    • getDifferentialClosedLoopOutput

      StatusSignal<Double> getDifferentialClosedLoopOutput(boolean refresh)
      Differential closed loop total output.

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

      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

    • getDifferentialClosedLoopReference

      StatusSignal<Double> getDifferentialClosedLoopReference()
      Value that the differential closed loop is targeting.

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

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopReference Status Signal object

    • getDifferentialClosedLoopReference

      StatusSignal<Double> getDifferentialClosedLoopReference(boolean refresh)
      Value that the differential closed loop is targeting.

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

      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

    • getDifferentialClosedLoopReferenceSlope

      StatusSignal<Double> getDifferentialClosedLoopReferenceSlope()
      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®.

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopReferenceSlope Status Signal object

    • getDifferentialClosedLoopReferenceSlope

      StatusSignal<Double> getDifferentialClosedLoopReferenceSlope(boolean refresh)
      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®.

      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

    • getDifferentialClosedLoopError

      StatusSignal<Double> getDifferentialClosedLoopError()
      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).

      This refreshes and returns a cached StatusSignal object.

      Returns:
      DifferentialClosedLoopError Status Signal object

    • getDifferentialClosedLoopError

      StatusSignal<Double> getDifferentialClosedLoopError(boolean refresh)
      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).

      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

    • setPosition

      StatusCode setPosition(double newValue)
      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

    • setPosition

      StatusCode setPosition(double newValue, double timeoutSeconds)
      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

    • setPosition

      StatusCode setPosition(Angle newValue)
      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

    • setPosition

      StatusCode setPosition(Angle newValue, double timeoutSeconds)
      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

    • clearStickyFaults

      StatusCode clearStickyFaults()
      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

    • clearStickyFaults

      StatusCode clearStickyFaults(double timeoutSeconds)
      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

    • clearStickyFault_Hardware

      StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

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

      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      StatusCode clearStickyFault_Hardware(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ProcTemp

      StatusCode clearStickyFault_ProcTemp()
      Clear sticky fault: Processor temperature exceeded limit

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

      Returns:
      StatusCode of the set command

    • clearStickyFault_ProcTemp

      StatusCode clearStickyFault_ProcTemp(double timeoutSeconds)
      Clear sticky fault: Processor temperature exceeded limit
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_DeviceTemp

      StatusCode clearStickyFault_DeviceTemp()
      Clear sticky fault: Device temperature exceeded limit

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

      Returns:
      StatusCode of the set command

    • clearStickyFault_DeviceTemp

      StatusCode clearStickyFault_DeviceTemp(double timeoutSeconds)
      Clear sticky fault: Device temperature exceeded limit
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      StatusCode clearStickyFault_Undervoltage()
      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

    • clearStickyFault_Undervoltage

      StatusCode clearStickyFault_Undervoltage(double timeoutSeconds)
      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

    • clearStickyFault_BootDuringEnable

      StatusCode clearStickyFault_BootDuringEnable()
      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

    • clearStickyFault_BootDuringEnable

      StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds)
      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

    • clearStickyFault_UnlicensedFeatureInUse

      StatusCode clearStickyFault_UnlicensedFeatureInUse()
      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

    • clearStickyFault_UnlicensedFeatureInUse

      StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)
      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

    • clearStickyFault_BridgeBrownout

      StatusCode clearStickyFault_BridgeBrownout()
      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

    • clearStickyFault_BridgeBrownout

      StatusCode clearStickyFault_BridgeBrownout(double timeoutSeconds)
      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

    • clearStickyFault_RemoteSensorReset

      StatusCode clearStickyFault_RemoteSensorReset()
      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

    • clearStickyFault_RemoteSensorReset

      StatusCode clearStickyFault_RemoteSensorReset(double timeoutSeconds)
      Clear sticky fault: The remote sensor has reset.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingDifferentialFX

      StatusCode clearStickyFault_MissingDifferentialFX()
      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

    • clearStickyFault_MissingDifferentialFX

      StatusCode clearStickyFault_MissingDifferentialFX(double timeoutSeconds)
      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

    • clearStickyFault_RemoteSensorPosOverflow

      StatusCode clearStickyFault_RemoteSensorPosOverflow()
      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

    • clearStickyFault_RemoteSensorPosOverflow

      StatusCode clearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds)
      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

    • clearStickyFault_OverSupplyV

      StatusCode clearStickyFault_OverSupplyV()
      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

    • clearStickyFault_OverSupplyV

      StatusCode clearStickyFault_OverSupplyV(double timeoutSeconds)
      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

    • clearStickyFault_UnstableSupplyV

      StatusCode clearStickyFault_UnstableSupplyV()
      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

    • clearStickyFault_UnstableSupplyV

      StatusCode clearStickyFault_UnstableSupplyV(double timeoutSeconds)
      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

    • clearStickyFault_ReverseHardLimit

      StatusCode clearStickyFault_ReverseHardLimit()
      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

    • clearStickyFault_ReverseHardLimit

      StatusCode clearStickyFault_ReverseHardLimit(double timeoutSeconds)
      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

    • clearStickyFault_ForwardHardLimit

      StatusCode clearStickyFault_ForwardHardLimit()
      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

    • clearStickyFault_ForwardHardLimit

      StatusCode clearStickyFault_ForwardHardLimit(double timeoutSeconds)
      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

    • clearStickyFault_ReverseSoftLimit

      StatusCode clearStickyFault_ReverseSoftLimit()
      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

    • clearStickyFault_ReverseSoftLimit

      StatusCode clearStickyFault_ReverseSoftLimit(double timeoutSeconds)
      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

    • clearStickyFault_ForwardSoftLimit

      StatusCode clearStickyFault_ForwardSoftLimit()
      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

    • clearStickyFault_ForwardSoftLimit

      StatusCode clearStickyFault_ForwardSoftLimit(double timeoutSeconds)
      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

    • clearStickyFault_MissingSoftLimitRemote

      StatusCode clearStickyFault_MissingSoftLimitRemote()
      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

    • clearStickyFault_MissingSoftLimitRemote

      StatusCode clearStickyFault_MissingSoftLimitRemote(double timeoutSeconds)
      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

    • clearStickyFault_MissingHardLimitRemote

      StatusCode clearStickyFault_MissingHardLimitRemote()
      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

    • clearStickyFault_MissingHardLimitRemote

      StatusCode clearStickyFault_MissingHardLimitRemote(double timeoutSeconds)
      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

    • clearStickyFault_RemoteSensorDataInvalid

      StatusCode clearStickyFault_RemoteSensorDataInvalid()
      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

    • clearStickyFault_RemoteSensorDataInvalid

      StatusCode clearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds)
      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

    • clearStickyFault_FusedSensorOutOfSync

      StatusCode clearStickyFault_FusedSensorOutOfSync()
      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

    • clearStickyFault_FusedSensorOutOfSync

      StatusCode clearStickyFault_FusedSensorOutOfSync(double timeoutSeconds)
      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

    • clearStickyFault_StatorCurrLimit

      StatusCode clearStickyFault_StatorCurrLimit()
      Clear sticky fault: Stator current limit occured.

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

      Returns:
      StatusCode of the set command

    • clearStickyFault_StatorCurrLimit

      StatusCode clearStickyFault_StatorCurrLimit(double timeoutSeconds)
      Clear sticky fault: Stator current limit occured.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_SupplyCurrLimit

      StatusCode clearStickyFault_SupplyCurrLimit()
      Clear sticky fault: Supply current limit occured.

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

      Returns:
      StatusCode of the set command

    • clearStickyFault_SupplyCurrLimit

      StatusCode clearStickyFault_SupplyCurrLimit(double timeoutSeconds)
      Clear sticky fault: Supply current limit occured.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UsingFusedCANcoderWhileUnlicensed

      StatusCode clearStickyFault_UsingFusedCANcoderWhileUnlicensed()
      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

    • clearStickyFault_UsingFusedCANcoderWhileUnlicensed

      StatusCode clearStickyFault_UsingFusedCANcoderWhileUnlicensed(double timeoutSeconds)
      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

    • clearStickyFault_StaticBrakeDisabled

      StatusCode clearStickyFault_StaticBrakeDisabled()
      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

    • clearStickyFault_StaticBrakeDisabled

      StatusCode clearStickyFault_StaticBrakeDisabled(double timeoutSeconds)
      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