CTRE Phoenix Pro C++ 23.0.12
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Class description for the Talon FX integrated motor controller that runs on associated Falcon motors. More...
#include <ctre/phoenixpro/TalonFX.hpp>
Public Member Functions | |
TalonFX (int deviceId, std::string canbus="") | |
Constructs a new Talon FX motor controller object. More... | |
~TalonFX () | |
void | Set (double speed) override |
Common interface for setting the speed of a motor controller. More... | |
void | SetVoltage (units::volt_t volts) override |
Common interface for seting the direct voltage output of a motor controller. More... | |
double | Get () const override |
Common interface for getting the current set speed of a motor controller. More... | |
void | Disable () override |
Common interface for disabling a motor controller. More... | |
void | StopMotor () override |
Common interface to stop motor movement until Set is called again. More... | |
void | SetInverted (bool isInverted) override |
Common interface for inverting direction of a motor controller. More... | |
bool | GetInverted () const override |
Common interface for returning the inversion state of a motor controller. More... | |
std::string | GetDescription () const override |
void | InitSendable (wpi::SendableBuilder &builder) override |
Public Member Functions inherited from ctre::phoenixpro::hardware::core::CoreTalonFX | |
CoreTalonFX (int deviceId, std::string canbus="") | |
Constructs a new Talon FX motor controller object. More... | |
CoreTalonFX (CoreTalonFX const &)=delete | |
CoreTalonFX & | operator= (CoreTalonFX const &)=delete |
bool | HasResetOccurred () |
configs::TalonFXConfigurator & | GetConfigurator () |
Gets the configurator for this TalonFX. More... | |
configs::TalonFXConfigurator const & | GetConfigurator () const |
Gets the configurator for this TalonFX. More... | |
sim::TalonFXSimState & | GetSimState () |
Get the simulation state for this device. More... | |
StatusSignalValue< int > & | GetVersionMajor () |
App Major Version number. More... | |
StatusSignalValue< int > & | GetVersionMinor () |
App Minor Version number. More... | |
StatusSignalValue< int > & | GetVersionBugfix () |
App Bugfix Version number. More... | |
StatusSignalValue< int > & | GetVersionBuild () |
App Build Version number. More... | |
StatusSignalValue< int > & | GetVersion () |
Full Version. More... | |
StatusSignalValue< int > & | GetFaultField () |
Integer representing all faults. More... | |
StatusSignalValue< int > & | GetStickyFaultField () |
Integer representing all sticky faults. More... | |
StatusSignalValue< signals::ForwardLimitValue > & | GetForwardLimit () |
Forward Limit Pin. More... | |
StatusSignalValue< signals::ReverseLimitValue > & | GetReverseLimit () |
Reverse Limit Pin. More... | |
StatusSignalValue< signals::AppliedRotorPolarityValue > & | GetAppliedRotorPolarity () |
The applied rotor polarity. More... | |
StatusSignalValue< units::dimensionless::scalar_t > & | GetDutyCycle () |
The applied motor duty cycle. More... | |
StatusSignalValue< units::current::ampere_t > & | GetTorqueCurrent () |
Current corresponding to the torque output by the motor. More... | |
StatusSignalValue< units::current::ampere_t > & | GetStatorCurrent () |
Current corresponding to the stator windings. More... | |
StatusSignalValue< units::current::ampere_t > & | GetSupplyCurrent () |
Measured supply side current. More... | |
StatusSignalValue< units::voltage::volt_t > & | GetSupplyVoltage () |
Measured supply voltage to the TalonFX. More... | |
StatusSignalValue< units::temperature::celsius_t > & | GetDeviceTemp () |
Temperature of device. More... | |
StatusSignalValue< units::temperature::celsius_t > & | GetProcessorTemp () |
Temperature of the processor. More... | |
StatusSignalValue< units::angular_velocity::turns_per_second_t > & | GetRotorVelocity () |
Velocity of motor rotor. More... | |
StatusSignalValue< units::angle::turn_t > & | GetRotorPosition () |
Position of motor rotor. More... | |
StatusSignalValue< units::angular_velocity::turns_per_second_t > & | GetVelocity () |
Velocity of device. More... | |
StatusSignalValue< units::angle::turn_t > & | GetPosition () |
Position of device. More... | |
StatusSignalValue< signals::ControlModeValue > & | GetControlMode () |
The active control mode of the motor controller. More... | |
StatusSignalValue< signals::MotionMagicIsRunningValue > & | GetMotionMagicIsRunning () |
Check if Motion Magic® is running. More... | |
StatusSignalValue< signals::DeviceEnableValue > & | GetDeviceEnable () |
Indicates if device is actuator enabled. More... | |
StatusSignalValue< int > & | GetClosedLoopSlot () |
Closed loop slot in use. More... | |
StatusSignalValue< signals::BridgeOuputValue > & | GetBridgeOuput () |
The applied output of the bridge. More... | |
StatusSignalValue< bool > & | GetFault_Hardware () |
Hardware fault occurred. More... | |
StatusSignalValue< bool > & | GetStickyFault_Hardware () |
Hardware fault occurred. More... | |
StatusSignalValue< bool > & | GetFault_ProcTemp () |
Processor temperature exceeded limit. More... | |
StatusSignalValue< bool > & | GetStickyFault_ProcTemp () |
Processor temperature exceeded limit. More... | |
StatusSignalValue< bool > & | GetFault_DeviceTemp () |
Device temperature exceeded limit. More... | |
StatusSignalValue< bool > & | GetStickyFault_DeviceTemp () |
Device temperature exceeded limit. More... | |
StatusSignalValue< bool > & | GetFault_Undervoltage () |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignalValue< bool > & | GetStickyFault_Undervoltage () |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignalValue< bool > & | GetFault_BootDuringEnable () |
Device boot while detecting the enable signal. More... | |
StatusSignalValue< bool > & | GetStickyFault_BootDuringEnable () |
Device boot while detecting the enable signal. More... | |
StatusSignalValue< bool > & | GetFault_OverSupplyV () |
Supply Voltage has exceeded the maximum voltage rating of device. More... | |
StatusSignalValue< bool > & | GetStickyFault_OverSupplyV () |
Supply Voltage has exceeded the maximum voltage rating of device. More... | |
StatusSignalValue< bool > & | GetFault_UnstableSupplyV () |
Supply Voltage is unstable. More... | |
StatusSignalValue< bool > & | GetStickyFault_UnstableSupplyV () |
Supply Voltage is unstable. More... | |
StatusSignalValue< bool > & | GetFault_ReverseHardLimit () |
Reverse limit switch has been asserted. More... | |
StatusSignalValue< bool > & | GetStickyFault_ReverseHardLimit () |
Reverse limit switch has been asserted. More... | |
StatusSignalValue< bool > & | GetFault_ForwardHardLimit () |
Forward limit switch has been asserted. More... | |
StatusSignalValue< bool > & | GetStickyFault_ForwardHardLimit () |
Forward limit switch has been asserted. More... | |
StatusSignalValue< bool > & | GetFault_ReverseSoftLimit () |
Reverse soft limit has been asserted. More... | |
StatusSignalValue< bool > & | GetStickyFault_ReverseSoftLimit () |
Reverse soft limit has been asserted. More... | |
StatusSignalValue< bool > & | GetFault_ForwardSoftLimit () |
Forward soft limit has been asserted. More... | |
StatusSignalValue< bool > & | GetStickyFault_ForwardSoftLimit () |
Forward soft limit has been asserted. More... | |
StatusSignalValue< bool > & | GetFault_MissingRemoteSensor () |
The remote sensor is not present on CAN Bus. More... | |
StatusSignalValue< bool > & | GetStickyFault_MissingRemoteSensor () |
The remote sensor is not present on CAN Bus. More... | |
StatusSignalValue< bool > & | GetFault_FusedSensorOutOfSync () |
The remote sensor used for fusion has fallen out of sync to the local sensor. More... | |
StatusSignalValue< bool > & | GetStickyFault_FusedSensorOutOfSync () |
The remote sensor used for fusion has fallen out of sync to the local sensor. More... | |
StatusSignalValue< bool > & | GetFault_StatorCurrLimit () |
Stator current limit occured. More... | |
StatusSignalValue< bool > & | GetStickyFault_StatorCurrLimit () |
Stator current limit occured. More... | |
StatusSignalValue< bool > & | GetFault_SupplyCurrLimit () |
Supply current limit occured. More... | |
StatusSignalValue< bool > & | GetStickyFault_SupplyCurrLimit () |
Supply current limit occured. More... | |
StatusSignalValue< double > & | GetClosedLoopProportionalOutput () |
Closed loop proportional component. More... | |
StatusSignalValue< double > & | GetClosedLoopIntegratedOutput () |
Closed loop integrated component. More... | |
StatusSignalValue< double > & | GetClosedLoopFeedForward () |
Feed Forward passed by the user. More... | |
StatusSignalValue< double > & | GetClosedLoopDerivativeOutput () |
Closed loop derivative component. More... | |
StatusSignalValue< double > & | GetClosedLoopOutput () |
Closed loop total output. More... | |
StatusSignalValue< double > & | GetClosedLoopReference () |
Value that the closed loop is targeting. More... | |
StatusSignalValue< double > & | GetClosedLoopReferenceSlope () |
Derivative of the target that the closed loop is targeting. More... | |
StatusSignalValue< double > & | GetClosedLoopError () |
The difference between target reference and current measurement. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DutyCycleOut &request) |
Request a specified motor duty cycle. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DutyCycleOut &&request) |
Request a specified motor duty cycle. More... | |
ctre::phoenix::StatusCode | SetControl (controls::TorqueCurrentFOC &request) |
Request a specified motor current (field oriented control). More... | |
ctre::phoenix::StatusCode | SetControl (controls::TorqueCurrentFOC &&request) |
Request a specified motor current (field oriented control). More... | |
ctre::phoenix::StatusCode | SetControl (controls::VoltageOut &request) |
Request a specified voltage. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VoltageOut &&request) |
Request a specified voltage. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionDutyCycle &request) |
Request PID to target position with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionDutyCycle &&request) |
Request PID to target position with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionVoltage &request) |
Request PID to target position with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionVoltage &&request) |
Request PID to target position with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionTorqueCurrentFOC &request) |
Request PID to target position with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionTorqueCurrentFOC &&request) |
Request PID to target position with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityDutyCycle &request) |
Request PID to target velocity with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityDutyCycle &&request) |
Request PID to target velocity with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityVoltage &request) |
Request PID to target velocity with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityVoltage &&request) |
Request PID to target velocity with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityTorqueCurrentFOC &request) |
Request PID to target velocity with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityTorqueCurrentFOC &&request) |
Request PID to target velocity with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicDutyCycle &request) |
Requests Motion Magic® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicDutyCycle &&request) |
Requests Motion Magic® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVoltage &request) |
Requests Motion Magic® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVoltage &&request) |
Requests Motion Magic® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicTorqueCurrentFOC &request) |
Requests Motion Magic® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicTorqueCurrentFOC &&request) |
Requests Motion Magic® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::Follower &request) |
Follow the motor output of another Talon. More... | |
ctre::phoenix::StatusCode | SetControl (controls::Follower &&request) |
Follow the motor output of another Talon. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StrictFollower &request) |
Follow the motor output of another Talon while ignoring the master's invert setting. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StrictFollower &&request) |
Follow the motor output of another Talon while ignoring the master's invert setting. More... | |
ctre::phoenix::StatusCode | SetControl (controls::NeutralOut &request) |
Request neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::NeutralOut &&request) |
Request neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::CoastOut &request) |
Request coast neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::CoastOut &&request) |
Request coast neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StaticBrake &request) |
Applies full neutral-brake by shorting motor leads together. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StaticBrake &&request) |
Applies full neutral-brake by shorting motor leads together. More... | |
ctre::phoenix::StatusCode | SetControl (controls::ControlRequest &request) |
Control motor with generic control request object. More... | |
ctre::phoenix::StatusCode | SetControl (controls::ControlRequest &&request) |
Control motor with generic control request object. More... | |
ctre::phoenix::StatusCode | SetRotorPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds) |
The position to set the rotor position to right now. More... | |
ctre::phoenix::StatusCode | SetRotorPosition (units::angle::turn_t newValue) |
The position to set the rotor position to right now. More... | |
ctre::phoenix::StatusCode | ClearStickyFaults (units::time::second_t timeoutSeconds) |
Clear the sticky faults in the device. More... | |
ctre::phoenix::StatusCode | ClearStickyFaults () |
Clear the sticky faults in the device. More... | |
Public Member Functions inherited from ctre::phoenixpro::hardware::ParentDevice | |
ParentDevice (int deviceID, std::string model, std::string canbus) | |
int | GetDeviceID () const |
const std::string & | GetCANBus () const |
std::shared_ptr< const controls::ControlRequest > | GetAppliedControl () const |
Get the latest applied control. More... | |
std::shared_ptr< controls::ControlRequest > | GetAppliedControl () |
Get the latest applied control. More... | |
Protected Member Functions | |
ctre::phoenix::StatusCode | SetControlPrivate (controls::ControlRequest &request) override |
Protected Member Functions inherited from ctre::phoenixpro::hardware::ParentDevice | |
virtual void | ReportIfTooOld ()=0 |
virtual ctre::phoenix::StatusCode | SetControlPrivate (controls::ControlRequest &request) |
template<typename T > | |
StatusSignalValue< T > & | LookupStatusSignalValue (uint16_t spn, std::string signalName, bool reportOnConstruction) |
template<typename T > | |
StatusSignalValue< T > & | LookupStatusSignalValue (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignalValue< T > >()> map_filler, std::string signalName, bool reportOnConstruction) |
template<typename T , typename U > | |
StatusSignalValue< T > | LookupDimensionlessStatusSignalValue (uint16_t spn, std::string signalName) |
Returns a unitless version of the StatusSignalValue by value. More... | |
void | ReportIfTooOld (int minMajor, int minMinor, int minBugfix, int minBuild) |
Additional Inherited Members | |
Static Public Attributes inherited from ctre::phoenixpro::hardware::ParentDevice | |
static constexpr double | kDefaultControlRatePeriodsSec = 0.010 |
Protected Attributes inherited from ctre::phoenixpro::hardware::ParentDevice | |
DeviceIdentifier | deviceIdentifier |
Class description for the Talon FX integrated motor controller that runs on associated Falcon motors.
This must be constructed after main executes. We recommend constructing inside the robot class or your subsystem classes. Otherwise WPILib motor safety may produce erroneous behavior.
ctre::phoenixpro::hardware::TalonFX::TalonFX | ( | int | deviceId, |
std::string | canbus = "" |
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Constructs a new Talon FX motor controller object.
This must be constructed after main executes. We recommend constructing inside the robot class or your subsystem classes. Otherwise WPILib motor safety may produce erroneous behavior.
deviceId | ID of the device, as configured in Phoenix Tuner. |
canbus | Name of the CAN bus this device is on. Possible CAN bus strings are:
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ctre::phoenixpro::hardware::TalonFX::~TalonFX | ( | ) |
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override |
Common interface for disabling a motor controller.
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override |
Common interface for getting the current set speed of a motor controller.
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override |
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override |
Common interface for returning the inversion state of a motor controller.
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override |
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override |
Common interface for setting the speed of a motor controller.
speed | The speed to set. Value should be between -1.0 and 1.0. |
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overrideprotectedvirtual |
Reimplemented from ctre::phoenixpro::hardware::ParentDevice.
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override |
Common interface for inverting direction of a motor controller.
isInverted | The state of inversion, true is inverted. |
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override |
Common interface for seting the direct voltage output of a motor controller.
volts | The voltage to output. |
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override |
Common interface to stop motor movement until Set is called again.